38979

Автор(ы): 

Автор(ов): 

3

Параметры публикации

Тип публикации: 

Доклад

Название: 

Vortex Algorithm for Two-link Manipulator

ISBN/ISSN: 

978-1-4673-9997-5

DOI: 

10.1109/STAB.2016.7541199

Наименование конференции: 

  • 2016 International Conference Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference)

Наименование источника: 

  • Proceedings of 2016 International Conference Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference)

Город: 

  • Moscow

Издательство: 

  • ICS RAS

Год издания: 

2016

Страницы: 

1-3
Аннотация
Abstract—Tracking problem for two link manipulator is considered. Desired trajectories are known with their time derivatives. The problem of actuator dynamics is taken into account. External disturbances are considered as continuous and bounded functions. Feedback is synthesized on the base of block approach and vortex algorythms. Control function belongs to the class of discontinious relay-function with constant amplitude. The case of disturbances with state variables as arguments is also considered.

Библиографическая ссылка: 

Кочетков С.А., Рассадин Ю.М., Шинкарюк А.Г. Vortex Algorithm for Two-link Manipulator / Proceedings of 2016 International Conference Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference). Moscow: ICS RAS, 2016. С. 1-3.