Simple Output Stabilization Approach for Robotic Systems

Authors: Borisov O., Pyrkin A., Bobtsov A., Kolyubin S., Surov M., Shavetov S, Gromov V.

Year: 2013

Publisher: 7th IFAC Conference on Manufacturing Modelling, Management and Control

Published: IFAC

Section: Simulation in Control Applications

Number: №1

Pages: 1873-1878

Country: Россия

City: Saint-Petersburg

Editor: Conference Editor: Bakhtadze, Natalia, Chernyshov, Kirill, Dolgui, Alexandre, Lototsky, Vladimir

The problem of control design for a class of nonlinear system is considered. It is assumed that the linear part is unknown and minimum phase. The nonlinear part is known inaccurately, it is irreducible to an input of the linear block, and generally does not satisfy sector restrictions. A regulator ensuring semiglobal stability is designed. The output of a plant, but not its derivatives is used as a measured variable. Some application results of proposed output control algorithm for a number of Lego Mindstorms NXT mobile robots (track, wheel and walking ones) are presented in the paper.

DOI: 10.3182/20130619-3-RU-3018.00288

ISBN: 978-3-902823-35-9

ISSN: 1474-6670