Standard

Modification of a PD+ controller for the orbital stabilization of the motions of an all-wheel drive mechanical system. / Gusev, S.V.; Paramonov, L.V.; Pchelkin, S.S.; Robertsson, A.; Freidovich, L.B.; Shiriaev, A.S.

In: Journal of Applied Mathematics and Mechanics, 2015, p. 546-555.

Research output: Contribution to journal › Article › peer-review

Harvard

Gusev, SV, Paramonov, LV, Pchelkin, SS, Robertsson, A, Freidovich, LB & Shiriaev, AS 2015, 'Modification of a PD+ controller for the orbital stabilization of the motions of an all-wheel drive mechanical system', Journal of Applied Mathematics and Mechanics, pp. 546-555. https://doi.org/10.1016/j.jappmathmech.2016.04.013

APA

Gusev, S. V., Paramonov, L. V., Pchelkin, S. S., Robertsson, A., Freidovich, L. B., & Shiriaev, A. S. (2015). Modification of a PD+ controller for the orbital stabilization of the motions of an all-wheel drive mechanical system. Journal of Applied Mathematics and Mechanics, 546-555. https://doi.org/10.1016/j.jappmathmech.2016.04.013

Vancouver

Gusev SV, Paramonov LV, Pchelkin SS, Robertsson A, Freidovich LB, Shiriaev AS. Modification of a PD+ controller for the orbital stabilization of the motions of an all-wheel drive mechanical system. Journal of Applied Mathematics and Mechanics. 2015;546-555. https://doi.org/10.1016/j.jappmathmech.2016.04.013

Author

Gusev, S.V. ; Paramonov, L.V. ; Pchelkin, S.S. ; Robertsson, A. ; Freidovich, L.B. ; Shiriaev, A.S. / Modification of a PD+ controller for the orbital stabilization of the motions of an all-wheel drive mechanical system. In: Journal of Applied Mathematics and Mechanics. 2015 ; pp. 546-555.

BibTeX

@article{98b9f006f3234803aae04734b94275cd,
title = "Modification of a PD+ controller for the orbital stabilization of the motions of an all-wheel drive mechanical system",
abstract = "{\textcopyright} 2016 Elsevier Ltd.The problem of the orbital stabilization of the forced periodic motions of a non-linear all-wheel drive mechanical system is considered within the framework of a model that is widely used in problems of the planning of the motions and feedback design for industrial robotic manipulators. The basic result is the explicit indication of one of the possible redundant sets of coordinates tranverse to the nominal motion and the derivation of the linearization of their behaviour in an explicit form. The latter enabled us to validate the original approach in the controller design problem and to analyse the behaviour of the closed system in the neighbourhood of the nominal motion. The analytical results are illustrated by solving the problem of stabilizing the motion of the working tool of an industrial ABB IRB140 robotic manipulator that is suboptimal with respect to its high-speed response taking account of the known constraints imposed on the limiting values of the angular velocities of the indiv",
author = "S.V. Gusev and L.V. Paramonov and S.S. Pchelkin and A. Robertsson and L.B. Freidovich and A.S. Shiriaev",
year = "2015",
doi = "10.1016/j.jappmathmech.2016.04.013",
language = "English",
pages = "546--555",
journal = "Journal of Applied Mathematics and Mechanics",
issn = "0021-8928",
publisher = "Elsevier",

}

RIS

TY - JOUR

T1 - Modification of a PD+ controller for the orbital stabilization of the motions of an all-wheel drive mechanical system

AU - Gusev, S.V.

AU - Paramonov, L.V.

AU - Pchelkin, S.S.

AU - Robertsson, A.

AU - Freidovich, L.B.

AU - Shiriaev, A.S.

PY - 2015

Y1 - 2015

N2 - © 2016 Elsevier Ltd.The problem of the orbital stabilization of the forced periodic motions of a non-linear all-wheel drive mechanical system is considered within the framework of a model that is widely used in problems of the planning of the motions and feedback design for industrial robotic manipulators. The basic result is the explicit indication of one of the possible redundant sets of coordinates tranverse to the nominal motion and the derivation of the linearization of their behaviour in an explicit form. The latter enabled us to validate the original approach in the controller design problem and to analyse the behaviour of the closed system in the neighbourhood of the nominal motion. The analytical results are illustrated by solving the problem of stabilizing the motion of the working tool of an industrial ABB IRB140 robotic manipulator that is suboptimal with respect to its high-speed response taking account of the known constraints imposed on the limiting values of the angular velocities of the indiv

AB - © 2016 Elsevier Ltd.The problem of the orbital stabilization of the forced periodic motions of a non-linear all-wheel drive mechanical system is considered within the framework of a model that is widely used in problems of the planning of the motions and feedback design for industrial robotic manipulators. The basic result is the explicit indication of one of the possible redundant sets of coordinates tranverse to the nominal motion and the derivation of the linearization of their behaviour in an explicit form. The latter enabled us to validate the original approach in the controller design problem and to analyse the behaviour of the closed system in the neighbourhood of the nominal motion. The analytical results are illustrated by solving the problem of stabilizing the motion of the working tool of an industrial ABB IRB140 robotic manipulator that is suboptimal with respect to its high-speed response taking account of the known constraints imposed on the limiting values of the angular velocities of the indiv

U2 - 10.1016/j.jappmathmech.2016.04.013

DO - 10.1016/j.jappmathmech.2016.04.013

M3 - Article

SP - 546

EP - 555

JO - Journal of Applied Mathematics and Mechanics

JF - Journal of Applied Mathematics and Mechanics

SN - 0021-8928

ER -

ID: 3990229