Synthesis of control algorithms for robotic platform with electro-hydraulic drive
Rybak Larisa, Gaponenko Elena, Malyshev Dmitry
MATEC Web of Conferences · 2018
doi:10.1051/matecconf/201814811006 (opens in a new tab)
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Abstract
The article deals with a robotic vibroprotection platform with electro-hydraulic drive. Built mathematical model systems from the account for characteristics of the drive. Synthesized invariant controller by system state that uses reverse ties coefficients. Controller synthesized at discrete area with a restriction in the magnitude of the relative displacement of the object relative to the base. To ensure the stability of the controller are selected in regulation law amendment providing the desired value of the relative displacement. The results of mathematical modeling are presented.
Abstract licence: CC BY
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