Natural control of robots for fine tracking

Natural control of robots for fine tracking

Global natural elementwise q-trackability is indispensable qualitative dynamic property for the natural tracking control of a robot. A simple criterion for global natural elementwise q-trackability of a robot is presented in a form of the necessary and sufficient condition. The designed controller g...

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1. Verfasser: Gruyitch, L.T.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Actuators
Convergence
Differential equations
Motion control
Orbital robotics
Robot control
Robot sensing systems
Robust control
Sufficient conditions
Uncertainty
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description Global natural elementwise q-trackability is indispensable qualitative dynamic property for the natural tracking control of a robot. A simple criterion for global natural elementwise q-trackability of a robot is presented in a form of the necessary and sufficient condition. The designed controller guarantees global both global desired motion stability and global q-tracking with a pre-specified finite vector reachability time, dependent only on the initial error vector. The controller is very simple for a technical implementation. The natural q-tracking control is completely robust relative to unpredictable and unknown variations of external disturbance vector function and of system internal dynamics.
doi_str_mv 10.1109/CDC.1999.833360
format Conference Proceeding
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The natural q-tracking control is completely robust relative to unpredictable and unknown variations of external disturbance vector function and of system internal dynamics.</description><subject>Actuators</subject><subject>Convergence</subject><subject>Differential equations</subject><subject>Motion control</subject><subject>Orbital robotics</subject><subject>Robot control</subject><subject>Robot sensing systems</subject><subject>Robust control</subject><subject>Sufficient conditions</subject><subject>Uncertainty</subject><issn>0191-2216</issn><isbn>9780780352506</isbn><isbn>0780352505</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>1999</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotj01LxDAUAAMquK57FjzlLq0vSfPxjlJdFRa97H15SROJ1kbSevDfK6wwMLeBYexKQCsE4G1_37cCEVunlDJwwjZoHfyhtNRgTtkKBIpGSmHO2cU8vwOAA2NW7OaFlu9KIw9lWmoZeUm8Fl-WmadSecpT5Eul8JGnt0t2lmic4-bfa7bfPuz7p2b3-vjc3-2a7OzS-A4DBC-JrHKGPOqg5YBdGBDloMF6nbroVLJOUgjSBbIUweikpPPaqDW7PmZzjPHwVfMn1Z_D8Uz9Aik_QRQ</recordid><startdate>1999</startdate><enddate>1999</enddate><creator>Gruyitch, L.T.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>1999</creationdate><title>Natural control of robots for fine tracking</title><author>Gruyitch, L.T.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i87t-b49c0cb2aa7386ab95c52d94cd992d507b5f4e83f782acc28ca7ae065f328b563</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>1999</creationdate><topic>Actuators</topic><topic>Convergence</topic><topic>Differential equations</topic><topic>Motion control</topic><topic>Orbital robotics</topic><topic>Robot control</topic><topic>Robot sensing systems</topic><topic>Robust control</topic><topic>Sufficient conditions</topic><topic>Uncertainty</topic><toplevel>online_resources</toplevel><creatorcontrib>Gruyitch, L.T.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Gruyitch, L.T.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Natural control of robots for fine tracking</atitle><btitle>Proceedings of the 38th IEEE Conference on Decision and Control (Cat. 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source IEEE Electronic Library (IEL) Conference Proceedings
subjects Actuators
Convergence
Differential equations
Motion control
Orbital robotics
Robot control
Robot sensing systems
Robust control
Sufficient conditions
Uncertainty
title Natural control of robots for fine tracking
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