Bounded Positioning Control of Manipulators Subject to Base Oscillation and Payload Uncertainty
نویسندگان
چکیده
Mounting base oscillation poses a significant challenge to the control of these mechanical systems called oscillatory manipulators (OBMs). The positioning accuracy system is severely affected by oscillations. Many strategies have been investigated, but most them require measurement or prediction This paper focuses on unique type OBMs—the vehicle-mounted manipulator that operates completely within non-inertial task space (base-fixed space). It great obtain its in practical applications. In addition, inherent payload uncertainty and actuator saturation make design more challenging. To solve above problems, this study developed novel strategy. A nonlinear dynamics model constructed firstly, where base-oscillation term considered as external disturbance system. Then, control, which can be regarded proportional derivative (PD) with continuous time-varying gains, proposed based implicit Lyapunov method. Finally, simulations hardware experiments are carried out certify effectiveness control. Results demonstrate that, even though without oscillations, offers superior performance terms robustness against well assurance boundedness input.
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ژورنال
عنوان ژورنال: Machines
سال: 2023
ISSN: ['2075-1702']
DOI: https://doi.org/10.3390/machines11020253