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dc.contributor.authorLima, Jeferson José de
dc.contributor.authorTusset, Angelo Marcelo
dc.contributor.authorJanzen, Frederic Conrad
dc.contributor.authorPiccirillo, Vinicius
dc.contributor.authorNascimento, Claudinor Bitencourt
dc.contributor.authorBalthazar, José Manoel
dc.contributor.authorBrasil, Reyolando Manoel Lopes Rebello da Fonseca
dc.identifier.citation10th International Conference On Mathematical Problems In Engineering, Aerospace And Sciences (ICNPAA 2014). Melville: Amer Inst Physics, v. 1637, p. 565-574, 2014.
dc.description.abstractA robotic control design considering all the inherent nonlinearities of the robot-engine configuration is developed. The interactions between the robot and joint motor drive mechanism are considered. The proposed control combines two strategies, one feedforward control in order to maintain the system in the desired coordinate, and feedback control system to take the system into a desired coordinate. The feedback control is obtained using State-Dependent Riccati Equation (SDRE). For link positioning two cases are considered. Case I: For control positioning, it is only used motor voltage; Case II: For control positioning, it is used both motor voltage and torque between the links. Simulation results, including parametric uncertainties in control shows the feasibility of the proposed control for the considered system.en
dc.publisherAmer Inst Physics
dc.relation.ispartof10th International Conference On Mathematical Problems In Engineering, Aerospace And Sciences (ICNPAA 2014)
dc.sourceWeb of Science
dc.subjectSDRE controlen
dc.subjectRobotic controlen
dc.subjectFeedforward controlen
dc.subjectFeedback controlen
dc.titleSDRE control strategy applied to a nonlinear robotic including drive motoren
dc.typeTrabalho apresentado em evento
dcterms.rightsHolderAmer Inst Physics
dc.contributor.institutionUniversidade Tecnológica Federal do Paraná (UTFPR)
dc.contributor.institutionUniversidade Estadual Paulista (UNESP)
dc.contributor.institutionUniversidade Federal do ABC (UFABC)
dc.description.affiliationUnespUniversidade Estadual Paulista, Departamento de Engenharia Mecânica, Faculdade de Engenharia de Bauru
dc.rights.accessRightsAcesso aberto
unesp.campusUniversidade Estadual Paulista (UNESP), Faculdade de Engenharia, Baurupt
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