Displaying similar documents to “Cyclic control of robot arms”

On directional change and anti-windup compensation in multivariable control systems

Dariusz Horla (2009)

International Journal of Applied Mathematics and Computer Science

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The paper presents a novel description of the interplay between the windup phenomenon and directional change in controls for multivariable systems (including plants with an uneven number of inputs and outputs), usually omitted in the literature. The paper also proposes a new classification of anti-windup compensators with respect to the method of generating the constrained control signal.

Trajectory tracking for a mobile robot with skid-slip compensation in the Vector-Field-Orientation control system

Maciej Michałek, Piotr Dutkiewicz, Marcin Kiełczewski, Dariusz Pazderski (2009)

International Journal of Applied Mathematics and Computer Science

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The article is devoted to a motion control problem for a differentially driven mobile robot in the task of trajectory tracking in the presence of skid-slip effects. The kinematic control concept presented in the paper is the Vector Field Orientation (VFO) feedback approach with a nonlinear feed-forward skid-slip influence compensation scheme. The VFO control law guarantees asymptotic convergence of the position tracking error to zero in spite of the disturbing influence of skid-slip...

Robust quasi NID aircraft 3D flight control under sensor noise

Marian J. Błachuta, Valery D. Yurkevich, Konrad Wojciechowski (1999)

Kybernetika

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In the paper the design of an aircraft motion controller based on the Dynamic Contraction Method is presented. The control task is formulated as a tracking problem for Euler angles, where the desired decoupled output transients are accomplished under assumption of high-level, high-frequency sensor noise and incomplete information about varying parameters of the system and external disturbances. The resulting controller has a simple form of a combination of a low-order linear dynamical...

Constrained stabilization of a dynamic systems: a case study

Franco Blanchini, S. Cotterli, G. Koruza, S. Miani, R. Siagri, Luciano Tubaro (1999)

Kybernetika

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In this work we consider the problem of determining and implementing a state feedback stabilizing control law for a laboratory two-tank dynamic system in the presence of state and control constraints. We do this by exploiting the properties of the polyhedral Lyapunov functions, i. e. Lyapunov functions whose level surfaces are polyhedra, in view of their capability of providing an arbitrarily good approximation of the maximal set of attraction, which is the largest set of initial states...