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Event-triggered output robust control algorithm is proposed in the paper. Controller synthesis is based on the consecutive compensator method. Event-trigger mechanism is based on the high-gain state observer. Developed controller provide input-to-state practical stability of unstable linear plants under conditions of parametric uncertainties and bounded external disturbances. Computer simulation confirm...
Trajectories planning and motion control of two-legged robots comprise many subtasks for different scenarios. In this paper the problem of stabilization of humanoid robot Darwin-OP in a standing position is considered. The robot balances on a rotating surface with unknown angle and speed. Estimation of surface inclination is provided by data of motor encoders and inertial measurements of accelerometer...
The paper is extension of result [16] and aimed to the adaptive control of uncertain linear plants under conditions of only quantized output measurement and bounded external disturbances. Quantizer with dynamical changing step is considered. Control law synthesis is based on consecutive compensator method. Kharitonov polynomials based tuning algorithm for controller parameters and quantization step...
The paper is devoted to the development of robust control for four-rotor aerial vehicle equipped with robotic arm based on the feedback linearization approach and finite-time control of the double integrator system. As a combined model of such system a quadrocopter and planar two link manipulator were chosen. Simulation results confirm efficiency of the proposed controller.
The paper is aimed to control design of uncertain linear multivariable plants in conditions of quantized output and external disturbances. Control law synthesis is based on the consecutive compensator method. Obtained algorithm provides tracking error of quantized output for the reference signal with fixed accuracy. Accuracy range depends on the quantization step and disturbances bounds. There are...
Motion control of biped robots includes a variety of tasks, such as controlling a robot walking on a horizontal plane, climbing stairs, moving on uneven surfaces, etc. This article describes modeling and designed control system for a biped robot standing on nonstationary plane. The problem of stabilization of the balancing robot, assembled on the basis of a robotic kit Bioloid, is considered for the...
A control algorithm for finite-time tracking of quadrotor is introduced. The algorithm is based on use of feedback linearization method and finite-time output control presented in [17]. In comparison with commonly used in practice control methods like PD-controller the proposed method allows to estimate the first derivatives of the generalized coordinates, that enable to reduce the number of necessary...
This article describes learning process at ITMO University with application of innovative mechatronic systems in automation and robotics learning. Proposed learning method allows developing students' interest in gaining practical skills during working with real robots. As a result, the students' need for theoretical knowledge increases. The learning process represents “learning in project implementation”...
The problem of a two-link robotic manipulator control under disturbances and uncertainly known parameters of it's system is considered in this article. There was proposed a method for adaptive control of the two-link robot manipulator based on the method of consecutive compensator. This article is the extension of results reported earlier, where the efficiency of consecutive compensator method applying...
The article describes an active learning method in studying the course "Integrated Systems Design and Control" for the masters program "System Analysis and Control". The method is based on involving of students to acquisition of a new knowledge in learning process, finding optimal solutions supported by practical activities. Strengthening of theoretical knowledge is supposed to...
This paper is devoted to the problem of stabilization of a biped robot that balances on a planar nonstationary board. The incline of the board on which the robot stands can vary arbitrarily. This article is a continuation of previous work. Here we present an improved control system of the robot, assembled on the basis of a robotic kit Bioloid. The main difference between this work and the previous...
This article proposes a new control design of quadrotor with attached 2-DOF robotic arm. Proposed adaptive control law is based on combined application of feedback linearization and consecutive compensator methods. Real time computation of the inertia tensor, center of mass position and the reactive torque generated by the manipulator is used to compensate the mutual influence of the system parts...
The aim of this article is design and control system developing of multirotational UAV equipped with a robotic manipulator. As a combined model of the robot a quadrocopter and a two-link manipulator were chosen. The mathematical model of this robot, its dynamic equations and problem of trajectory tracking are described in this paper. Mutual reactive influence of the robotic manipulator and the UAV...
There is method for real time frequency analysis of the electromyogram is described in article. This method is proposed to use in control systems of advanced robotics for medical and healthcare applications. Method consists of realtime frequency estimation with preliminary using of band-pass filter. The method is easy to program and does not require any additional resources. The article gives an example...
This article presents a system of intuitive control the upper extremity exoskeleton and other mechatronic devices with EMG and EEG for people with different degrees of musculoskeletal system damage. The technology let control an apparatus by thinking about it. Various identification methods for control signals like neural networks, wavelet analysis, fastICA, Fourier series are given below. Algorithms...
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