CONTROL OF ENERGY EFFICIENCY IN INDUSTRY AND HOUSING AND COMMUNAL SERVICES
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UDC 681.51.011
About problems of control of robots manipulators in the conditions of incompleteness of information
V.I. Shiryaev, South Ural State University, vis@prima.susu.ac.ru
A.A. Bragina, South Ural State University, vis@prima.susu.ac.ru
Abstract
Work is devoted to development of algorithm of movement control of the handling robot (HR) in a point of a program trajectory by a direct method of Lyapunov. One of approaches to the solution of the HR control problem in the conditions of uncertainty is considered.
Keywords
handling robot, control, uncertainty conditions, direct method of Lyapunov
References
1. Shiryaev V. I., Bragina A.A. Sintez algoritma signal’noy adaptivnoi stabilizatsii manipulyatsionnogo robota s elektroprivodami. Mat. mezhdunar. konf. [Synthesis of Algorithm of Alarm Adaptive Stabilization of the Handling Robot with Electric Drives]. Proc. of Int. conf., S.-Pb., Polyequipment Service Publ. House, 2010, pp. 219-227.
2. Shiryaev V. I. [Problems of Control of Dynamic Systems at Incomplete Information]. Mechatronics, , 2001, № 8, pp 2-5. (in Russ.)
3. Shovel A.V., Yudin V. I., Yurevich E.I. Issledovaniya i razrabotki TsNII PTK po ekstremal’noy robototechniki. Sbornik dokladov mezhdunar. nauchno-tekhnich. konf. [Researches and Development of Central Research Institute RTK on an Extreme Robotics. Proc. of Int. Sc.-techn. Conf.]. Polyequipment Service Publ. House, 2010, pp. 21-25.
4. Erugin N. P., Shtokalo I.Z., Bondarenko P. S. Kurs obyknovennykh differentsial’nykh uravneniy [Course of the Ordinary Differential Equations]. Kiev, Publ. house "Vishcha school”, 1974. 472 p.
2. Shiryaev V. I. [Problems of Control of Dynamic Systems at Incomplete Information]. Mechatronics, , 2001, № 8, pp 2-5. (in Russ.)
3. Shovel A.V., Yudin V. I., Yurevich E.I. Issledovaniya i razrabotki TsNII PTK po ekstremal’noy robototechniki. Sbornik dokladov mezhdunar. nauchno-tekhnich. konf. [Researches and Development of Central Research Institute RTK on an Extreme Robotics. Proc. of Int. Sc.-techn. Conf.]. Polyequipment Service Publ. House, 2010, pp. 21-25.
4. Erugin N. P., Shtokalo I.Z., Bondarenko P. S. Kurs obyknovennykh differentsial’nykh uravneniy [Course of the Ordinary Differential Equations]. Kiev, Publ. house "Vishcha school”, 1974. 472 p.
Source
Актуальные проблемы автоматизации и управления [Текст] : труды научно-практической конференции, посвященной 100-летию со дня рождения заслуженного деятеля науки и техники РФ профессора Г. С. Черноруцкого, 75-летию Южно-Уральского государственного университета, 50-летию кафедры систем управления, Челябинск, 5-7 июня 2013 / Южно-Уральский гос. ун-т ; [ред. Н. В. Плотникова]. - Челябинск : Изд. центр ЮУрГУ, 2013. - 423 с. : ил., табл.; 21 см. (The main)