SDRE control strategy applied to a nonlinear robotic including drive motor
| dc.contributor.author | Lima, Jeferson José de | |
| dc.contributor.author | Tusset, Angelo Marcelo | |
| dc.contributor.author | Janzen, Frederic Conrad | |
| dc.contributor.author | Piccirillo, Vinicius | |
| dc.contributor.author | Nascimento, Claudinor Bitencourt | |
| dc.contributor.author | Balthazar, José Manoel | |
| dc.contributor.author | Brasil, Reyolando Manoel Lopes Rebello da Fonseca | |
| dc.contributor.institution | Universidade Tecnológica Federal do Paraná (UTFPR) | |
| dc.contributor.institution | Universidade Estadual Paulista (Unesp) | |
| dc.contributor.institution | Universidade Federal do ABC (UFABC) | |
| dc.date.accessioned | 2015-11-03T15:30:04Z | |
| dc.date.available | 2015-11-03T15:30:04Z | |
| dc.date.issued | 2014-01-01 | |
| dc.description.abstract | A 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.description.affiliationUnesp | Universidade Estadual Paulista, Departamento de Engenharia Mecânica, Faculdade de Engenharia de Bauru | |
| dc.format.extent | 565-574 | |
| dc.identifier | http://scitation.aip.org/content/aip/proceeding/aipcp/10.1063/1.4904625 | |
| dc.identifier.citation | 10th International Conference On Mathematical Problems In Engineering, Aerospace And Sciences (ICNPAA 2014). Melville: Amer Inst Physics, v. 1637, p. 565-574, 2014. | |
| dc.identifier.doi | 10.1063/1.4904625 | |
| dc.identifier.issn | 0094-243X | |
| dc.identifier.uri | http://hdl.handle.net/11449/130190 | |
| dc.identifier.wos | WOS:000347812200068 | |
| dc.language.iso | eng | |
| dc.publisher | Amer Inst Physics | |
| dc.relation.ispartof | 10th International Conference On Mathematical Problems In Engineering, Aerospace And Sciences (ICNPAA 2014) | |
| dc.rights.accessRights | Acesso aberto | |
| dc.source | Web of Science | |
| dc.subject | SDRE control | en |
| dc.subject | Robotic control | en |
| dc.subject | Feedforward control | en |
| dc.subject | Feedback control | en |
| dc.title | SDRE control strategy applied to a nonlinear robotic including drive motor | en |
| dc.type | Trabalho apresentado em evento | |
| dcterms.rightsHolder | Amer Inst Physics | |
| unesp.campus | Universidade Estadual Paulista (Unesp), Faculdade de Engenharia, Bauru | pt |