Simple Output Stabilization Approach for Robotic Systems

Авторы: Borisov O., Pyrkin A., Bobtsov A., Kolyubin S., Суров М., Shavetov S, Gromov V.

Год издания: 2013

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

Издательство: IFAC

Раздел: Simulation in Control Applications

Номер: №1

Страницы: 1873-1878

Страна: Россия

Город: Saint-Petersburg

Редактура: 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