SDRE control strategy applied to a nonlinear robotic including drive motor

Detalhes bibliográficos
Autor(a) principal: Lima, Jeferson José de
Data de Publicação: 2014
Outros Autores: Tusset, Angelo Marcelo, Janzen, Frederic Conrad, Piccirillo, Vinicius, Nascimento, Claudinor Bitencourt, Balthazar, José Manoel, Brasil, Reyolando Manoel Lopes Rebello da Fonseca
Tipo de documento: Artigo de conferência
Idioma: eng
Título da fonte: Repositório Institucional da UNESP
Texto Completo: http://scitation.aip.org/content/aip/proceeding/aipcp/10.1063/1.4904625
http://hdl.handle.net/11449/130190
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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spelling SDRE control strategy applied to a nonlinear robotic including drive motorSDRE controlRobotic controlFeedforward controlFeedback controlA 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.Universidade Estadual Paulista, Departamento de Engenharia Mecânica, Faculdade de Engenharia de BauruAmer Inst PhysicsUniversidade Tecnológica Federal do Paraná (UTFPR)Universidade Estadual Paulista (Unesp)Universidade Federal do ABC (UFABC)Lima, Jeferson José deTusset, Angelo MarceloJanzen, Frederic ConradPiccirillo, ViniciusNascimento, Claudinor BitencourtBalthazar, José ManoelBrasil, Reyolando Manoel Lopes Rebello da Fonseca2015-11-03T15:30:04Z2015-11-03T15:30:04Z2014-01-01info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/conferenceObject565-574http://scitation.aip.org/content/aip/proceeding/aipcp/10.1063/1.490462510th International Conference On Mathematical Problems In Engineering, Aerospace And Sciences (ICNPAA 2014). Melville: Amer Inst Physics, v. 1637, p. 565-574, 2014.0094-243Xhttp://hdl.handle.net/11449/13019010.1063/1.4904625WOS:000347812200068Web of Sciencereponame:Repositório Institucional da UNESPinstname:Universidade Estadual Paulista (UNESP)instacron:UNESPeng10th International Conference On Mathematical Problems In Engineering, Aerospace And Sciences (ICNPAA 2014)info:eu-repo/semantics/openAccess2024-06-28T13:55:20Zoai:repositorio.unesp.br:11449/130190Repositório InstitucionalPUBhttp://repositorio.unesp.br/oai/requestopendoar:29462024-08-05T20:56:58.567803Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)false
dc.title.none.fl_str_mv SDRE control strategy applied to a nonlinear robotic including drive motor
title SDRE control strategy applied to a nonlinear robotic including drive motor
spellingShingle SDRE control strategy applied to a nonlinear robotic including drive motor
Lima, Jeferson José de
SDRE control
Robotic control
Feedforward control
Feedback control
title_short SDRE control strategy applied to a nonlinear robotic including drive motor
title_full SDRE control strategy applied to a nonlinear robotic including drive motor
title_fullStr SDRE control strategy applied to a nonlinear robotic including drive motor
title_full_unstemmed SDRE control strategy applied to a nonlinear robotic including drive motor
title_sort SDRE control strategy applied to a nonlinear robotic including drive motor
author Lima, Jeferson José de
author_facet 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
author_role author
author2 Tusset, Angelo Marcelo
Janzen, Frederic Conrad
Piccirillo, Vinicius
Nascimento, Claudinor Bitencourt
Balthazar, José Manoel
Brasil, Reyolando Manoel Lopes Rebello da Fonseca
author2_role author
author
author
author
author
author
dc.contributor.none.fl_str_mv Universidade Tecnológica Federal do Paraná (UTFPR)
Universidade Estadual Paulista (Unesp)
Universidade Federal do ABC (UFABC)
dc.contributor.author.fl_str_mv 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
dc.subject.por.fl_str_mv SDRE control
Robotic control
Feedforward control
Feedback control
topic SDRE control
Robotic control
Feedforward control
Feedback control
description 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.
publishDate 2014
dc.date.none.fl_str_mv 2014-01-01
2015-11-03T15:30:04Z
2015-11-03T15:30:04Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/conferenceObject
format conferenceObject
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://scitation.aip.org/content/aip/proceeding/aipcp/10.1063/1.4904625
10th International Conference On Mathematical Problems In Engineering, Aerospace And Sciences (ICNPAA 2014). Melville: Amer Inst Physics, v. 1637, p. 565-574, 2014.
0094-243X
http://hdl.handle.net/11449/130190
10.1063/1.4904625
WOS:000347812200068
url http://scitation.aip.org/content/aip/proceeding/aipcp/10.1063/1.4904625
http://hdl.handle.net/11449/130190
identifier_str_mv 10th International Conference On Mathematical Problems In Engineering, Aerospace And Sciences (ICNPAA 2014). Melville: Amer Inst Physics, v. 1637, p. 565-574, 2014.
0094-243X
10.1063/1.4904625
WOS:000347812200068
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 10th International Conference On Mathematical Problems In Engineering, Aerospace And Sciences (ICNPAA 2014)
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv 565-574
dc.publisher.none.fl_str_mv Amer Inst Physics
publisher.none.fl_str_mv Amer Inst Physics
dc.source.none.fl_str_mv Web of Science
reponame:Repositório Institucional da UNESP
instname:Universidade Estadual Paulista (UNESP)
instacron:UNESP
instname_str Universidade Estadual Paulista (UNESP)
instacron_str UNESP
institution UNESP
reponame_str Repositório Institucional da UNESP
collection Repositório Institucional da UNESP
repository.name.fl_str_mv Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)
repository.mail.fl_str_mv
_version_ 1808129265253744640

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