Temat: computed torque control - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Tracking control of an underactuated rigid body with a coupling input force
Autorzy:: Korczak, S.
Powiązania:: https://bibliotekanauki.pl/articles/229217.pdf
Data publikacji:: 2014
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: underactuated system
tracking
coupling forces
computed torque control
Opis:: This paper presents a set of basic problems concerning the control of an underactuated dynamic system. Exemplary system of a planar rigid body with a coupling input force is described. Lie brackets method is used to show accessibility of the system. A tracking problem is solved with computed torque algorithm. The coupling force makes the convergence to zero of all state variables errors impossible. After numerical simulation, stability of the system is mentioned.
Źródło:: Archives of Control Sciences; 2014, 24, 3; 321-332
1230-2384
Pojawia się w:: Archives of Control Sciences
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: Novel solutions on model-based and model-free robotic-assisted ankle rehabilitation
Autorzy:: Arceo, Juan Carlos
Alvarez, Jorge
Armenta, Carlos
Lauber, Jimmy
Cremoux, Sylvian
Simoneau-Buessinger, Emilie
Bernal, Miguel
Powiązania:: https://bibliotekanauki.pl/articles/1409032.pdf
Data publikacji:: 2021
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: active disturbance rejection
computed torque control
differential algebraic equations
parallel rehabilitation robot
real-time implementation
system identification
Opis:: In this report, ankle rehabilitation routines currently approved by physicians are implemented via novel control algorithms on a recently appeared robotic device known as the motoBOTTE. The physician specifications for gait cycles are translated into robotic trajectories whose tracking is performed twofold depending on the availability of a model: (1) if obtained via the Euler-Lagrange approach along with identification of unknown plant parameters, a new computed-torque control law is proposed; it takes into account the parallel-robot characteristics; (2) if not available, a variation of the active disturbance rejection control technique whose parameters need to be tuned, is employed. A detailed discussion on the advantages and disadvantages of the model-based and model-free results, from the continuous-time simulation to the discrete-time implementation, is included.
Źródło:: Archives of Control Sciences; 2021, 31, 1; 5-27
1230-2384
Pojawia się w:: Archives of Control Sciences
Dostawca treści:: Biblioteka Nauki

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