SDRE control strategy applied to a nonlinear robotic including drive motor
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Data
2014-01-01
Autores
Lima, Jeferson José de
Tusset, Angelo Marcelo
Janzen, Frederic Conrad
Piccirillo, Vinicius
Nascimento, Claudinor Bitencourt
Balthazar, José Manoel
Brasil, Reyolando Manoel Lopes Rebello da Fonseca
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Título de Volume
Editor
Amer Inst Physics
Resumo
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.
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Palavras-chave
SDRE control, Robotic control, Feedforward control, Feedback control
Como citar
10th International Conference On Mathematical Problems In Engineering, Aerospace And Sciences (ICNPAA 2014). Melville: Amer Inst Physics, v. 1637, p. 565-574, 2014.