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Different-level algorithms for control of robotic systems.
- Source :
-
Applied Mathematical Modelling . Jan2020:Part 1, Vol. 77, p922-933. 12p. - Publication Year :
- 2020
-
Abstract
- • The different-level nonlinear system is first investigated. • The zeroing equivalency between different levels is proposed. • The new algorithm is proposed based on the equivalency and a discretization formula. • The problem is solved in a discrete-time manner with the future-instant solution predicted. • The problem of robotic system control with the end-effector orientation and fault tolerance considered simultaneously is solved. In this paper, we consider a special kind of time-dependent nonlinear system that includes different-level subsystems (i.e., a subsystem with respect to time-dependent solution and a subsystem with respect to its time derivative). To solve this kind of time-dependent nonlinear system, an equivalency between different-level subsystems is proposed and termed as zeroing equivalency based on the zeroing neural network method. This kind of time-dependent nonlinear system can be solved in a discrete-time manner with future-instant solution predicted at current instant based on the zeroing equivalency and a discretization formula. Prediction ability can perfectly meet the requirements of real-time computation, which is crucial in engineering fields. In addition, different-level algorithms are further employed to solve the problem of robotic system control considering additional restrictions. The position tracking control and end-effector orientation control are simultaneously achieved with even fault tolerance by utilizing the proposed algorithms. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 0307904X
- Volume :
- 77
- Database :
- Academic Search Index
- Journal :
- Applied Mathematical Modelling
- Publication Type :
- Academic Journal
- Accession number :
- 139435766
- Full Text :
- https://doi.org/10.1016/j.apm.2019.08.001