...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>International Journal of Control >Performance analysis for bounded persistent disturbances in PD/PID-controlled robotic systems with its experimental demonstrations
【24h】

Performance analysis for bounded persistent disturbances in PD/PID-controlled robotic systems with its experimental demonstrations

机译：PD / PID控制机器人系统中有界持续扰动的性能分析及实验示威

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This paper is concerned with performance analysis of proportional-derivative/proportional-integral-derivative (PD/PID) controller for bounded persistent disturbances in a robotic manipulator. Even though the notion of input-to-state stability (ISS) has been widely used to deal with the effect of disturbances in control of a robotic manipulator, the corresponding studies cannot be directly applied to the treatment of persistent disturbances occurred in robotic manipulators. This is because the conventional studies relevant to ISS consider the H-infinity performance for robotic systems, which is confined to the treatment of decaying disturbances, i.e. the disturbances those in the L-2 space. To deal with the effect of persistent disturbances in robotic systems, we first provide a new treatment of ISS in the L-infinity sense because bounded persistent disturbances should be intrinsically regarded as elements of the L-infinity space. We next derive state-space representations of trajectory tracking control in the robotic systems which allow us to define the problem formulations more clearly. We then propose a novel control law that has a PD/PID control form, by which the trajectory tracking system satisfies the reformulated ISS. Furthermore, we can obtain a theoretical argument about the L-infinity gain from the disturbance to the regulated output through the proposed control law. Finally, experimental studies for a typical 3-degrees of freedom robotic manipulator are given to demonstrate the effectiveness of the method introduced in this paper.
机译：None

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号