Discrete-Time Delay Control for Euler-Lagrange Mechanical Systems

被引：0

作者：

Sleiman, Hassan ^{[1
]}

Melin, Christian ^{[1
]}

Vidolov, Boris ^{[1
]}

机构：

[1] Univ Technol Compiegne, CNRS, Heudiasyc Lab, Res Ctr Royallieu,UMR 6599, F-60205 Compiegne, France

来源：

PROCEEDINGS OF WORLD ACADEMY OF SCIENCE, ENGINEERING AND TECHNOLOGY, VOL 6 | 2005年

关键词：

Discrete-time control; disturbance estimation; robust nonlinear control; mechanical systems;

D O I：

暂无

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

In this paper a discrete-time version of the time delay control (TDC) approach is presented. The goal is to eliminate the TDC assumption of accessibility to the entire delayed derivative of the plant state variables. Two different approaches are presented to control Euler-Lagrange mechanical systems. Simulations results are given for a two-link manipulator with variable payloads to illustrate the robustness of the controller.

引用

页码：78 / 81

页数：4

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