Nonlinear Discrete-Time Disturbance Attenuation for Robotic Manipulators with Immersion and Invariance Approach<bold> </bold>

被引：0
|
作者：
Adiguzel, Fatih [1 ]
Yalcin, Yaprak [2 ]
机构：
[1] Istanbul Univ Cerrahpasa, Dept Elect & Elect Engn, Istanbul, Turkey
[2] Istanbul Tech Univ, Dept Control & Automat Engn, Istanbul, Turkey
来源：
2018 2ND INTERNATIONAL SYMPOSIUM ON MULTIDISCIPLINARY STUDIES AND INNOVATIVE TECHNOLOGIES (ISMSIT) | 2018年
关键词：
Disturbance attenuation; Nonlinear systems; Discrete-time control; Immersion and Invariance<bold>; </bold>; ADAPTIVE-CONTROL; FEEDBACK;
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, attenuation of constant input disturbances in the control of robotic manipulators is considered in discrete-time setting. Firstly, a disturbance estimator design with Immersion and Invariance approach is presented for n-DOF mechanical systems that comprises n-DOF robotic manipulators. Then, a discrete-time backstepping controller established that uses the estimated disturbance information and locally stability using Lyapunov's stability theorem, in an arbitrarily large compact set, of closed loop system is shown. The method applied to 2-DOF robotic manipulator and tested by simulations.<bold> </bold>
引用
收藏
页码：262 / 266
页数：5
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