2014 2(15)

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   Short abstract

 

Pages:

72 - 77

Language:

EN

Ref.:

8


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ROBOTICS APPLICATION OF SYMBOLIC DESIGN AND MODELING

doi:10.23877/MS.TS.18.015

Dyda A.A.1,2, Oskin D.A.1,2, Krasyuk L.V.1, Osokina E.B.2, Yudakov A.A.3

1 Far Eastern Federal University, Vladivostok, Russia
2 Maritime State University named after admiral G.I.Nevelskoy, Vladivostok, Russia
3 Institute of Chemistry FEB RAS, Vladivostok, Russia


Citation:

Dyda, A.A., Oskin, D.A., Krasyuk, L.V., Osokina, E.B. and Yudakov, A.A., (2014) Robotics application of symbolic design and modeling, Modern Science: Researches, Ideas, Results, Technologies, Iss. #2(15), PP. 72 - 77. doi: 10.23877/MS.TS.18.015.


Keywords:

control law synthesis


Abstracts:

This paper is devoted to the problem of the design procedure automatization for nonlinear control systems on the basis of symbolic computations and such well-known technique as exact linearization via nonlinear feedback. Developed software realizes the synthesis of control laws in symbolic form that is convenient for further analysis, modelling, and practical implementation of the system. Examles of the software applications to induction motor and robot manipulator are given and discussed.


References:

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  3. C.I. Byrnes, F.D. Priscoli, A. Isidori, Output Regulation of Uncertain Nonlinear Systems. Boston: Birkhauser, 1997.

  4. P.V. Kokotovic, I. Kanellakopoulos, A.S. Morse Adaptive Feedback Linearization of Nonlinear Systems // P.V. Kokotovic (ed.) Foundation of Adaptive Control. Berlin: Springer-Verlag, 1991.

  5. B. Castillo-Toledo, S. Di Gennaro, A.G. Loukianov, J. Rivera "On the disrete-time modelling and control of induction motor with sliding modes," in Proc. American Control Conf., Boston, Massachusetts, 2004, pp. 2598-2604.

  6. M. Vucobratovic, N. Kircansky, Scietific Fundamentals of Robotics Vol.1-3 . Berlin: Springer-Verlag, 1982-1985.

  7. A.A. Dyda, S. Di Gennaro, "Adaptive trajectory control for underwater robot," in Proc.OCEANS-94 Osates, Brest, 1994.

  8. S. Di Gennaro, A.A. Dyda, "Attitude control of a satellite with damping compensation of the flexible beam," in Proc. European Control Conf., Groningem, 1993, pp. 1656-1661.

 

 
     

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