By Aleksandar Lazinica
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Extra resources for Automation and Robotics
2001). D. dissertation, FortschrittBerichte VDI, Duesseldorf – Braunschweig (in German). ; Maaß, J. (2005). Robot Control Based on Skill Primitives, Proc. of IASTED Conf. on Robotics and Applications, pp. 260-266, Camebridge, October 2005, USA. Leonhard, W. (1996). Control of Electrical Drives, Springer, ISBN: 978-3540418207, Berlin – Heidelberg - New York. ; Friedman, L. (2002). -P. pp. , ISBN: 978-0824706715, New York. G. (1964). Observing the state ov a linear system, IEEE Transactions on Military Electronics, pp.
352–369, 1973. Weinmann, A. Uncertain mod and robust control, Springer, ISBN: 978-3-211-82299-9, Wien. E. (1993), Comparative Experiments with a New Adaptive Controller for Robot Arms, IEEE Transactions on Robotics and Automation, vol. 9, no. 1, pp 59-70, Februar 1993. ; Böske, W. (2006). ; Schumacher, W. (2007). Continuous Sliding Surfaces versus Classical Control Concepts on Parallel Robots, Proc. of the 13th IEEE IFAC International Conference on Methods and Models in Automation, pp. 869–874, Szczecin, August 2007, Poland.
Considering the structure of the cascaded controller, as introduced in fig. 4 and 5, the transfer function for command action yields to Gc ( s ) = GPTD GPIGI1GPT1GI2 1 + GPIGI1GPT1 + GPTD GPIGI1GPT1GI2 (27) The parameter uncertainties are included by an additional factor to the properties. The systems inertia and delay are thus described by kTelTel and kTvTv , where Tel and Tv represent the values used for controller design. Thus, the transfer function, eq. (27), can be simplified by using eq. (17) to GC ( s ) = = 4Tel s + 1 256Tel4 k Tv k Tel s 4 + 256Tel3 k Tv s 3 + 96Tel2 s 2 + 16Tel s + 1 a +1 (28) k Tel k Tv a 4 + 4k Tv a 3 + 6a 2 + 4a + 1 To avoid the explicit solution of the fourth-order polynomial, the stability of the loop is analyzed using Hurwitz' criteria.
Automation and Robotics by Aleksandar Lazinica