Control of Flexible Robot by Harmonic Functions
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F22%3A00357871" target="_blank" >RIV/68407700:21220/22:00357871 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.3390/app12073604" target="_blank" >https://doi.org/10.3390/app12073604</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.3390/app12073604" target="_blank" >10.3390/app12073604</a>
Alternative languages
Result language
angličtina
Original language name
Control of Flexible Robot by Harmonic Functions
Original language description
This work deals with the control of flexible structures as underactuated systems. The invariant control method performs the control of a flexible robot as a representative of an underactuated system with zero dynamics. The control input is separated into two parts. The arbitrary part of the control input is designed to control the directly actuated part of the dynamic system. The invariant part of the control is selected to steer the system zero dynamics in the desired way. The harmonic functions create the base for the invariant part of the control function. The residual vibration cancellation is the target of the presented invariant control strategy. The harmonic function frequencies are overtaken from the so-called natural motion, amplitudes are the results of the optimization process. The main target of this paper is to show the invariant control approach and its application to the system with flexible elements.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20301 - Mechanical engineering
Result continuities
Project
<a href="/en/project/EF15_003%2F0000470" target="_blank" >EF15_003/0000470: Robotics 4 Industry 4.0</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2022
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Applied Sciences
ISSN
2076-3417
e-ISSN
2076-3417
Volume of the periodical
12
Issue of the periodical within the volume
7
Country of publishing house
CH - SWITZERLAND
Number of pages
14
Pages from-to
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UT code for WoS article
000781476100001
EID of the result in the Scopus database
2-s2.0-85128180529