POLISH ACADEMY of SCIENCES
TECHNICAL SCIENCES
| BULLETIN
of the
POLISH ACADEMY of SCIENCES TECHNICAL SCIENCES |
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| Volume 53, Issue 1, March 2005 | ||||
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| Aims&Scope, Subscription | Editors | Authors' guide | Vol 53-1 | mirror: http://fluid.ippt.gov.pl/~bulletin/ |
| pp 19 - 29 |
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Unfalsified control of manipulators: simulation analysis |
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| M. PAWLUK and K. ARENT |
| In this paper we present results of systematic and comprehensive simulation analysis of the Tsao & Safonov unfalsified controller for complex robot manipulators. In particular, we show that the controller falsification procedure yields the closedloop unfalsified controller, which accomplishes the control objective, within a finite and relatively short time interval with the number of invocations of linear programming based unfalsified controller selection procedure being relatively small. We also present some conclusions resulting from the investigation of the eect of such elements as manipulator structure complexity, prior knowledge about disturbances, reference trajectory and assigned closed-loop spectrum on unfalsified controller performance and computational complexity. |
| Keywords: |
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unfalsified control, manipulator, linear programming |
| Issue Index | Scope Index | Web Info | |
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| Aims&Scope, Subscription | Editors | Authors' guide | Vol 53-1 |
| Copyright
Bulletin of the Polish Academy of Sciences: Technical Sciences
21 April 2005, site prepared by KZ |
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