ISSN 1991-2927
 

ACP № 2 (60) 2020

Author: "Daria Yuryevna Motorina"

Daria Yuryevna Motorina, FRPC OJSC RPA Mars, post-graduate student at the Chair of Information Security and Control Theory at Ulyanovsk State University, field: Mathematical Modeling, Calculi of Approximations and Software System; graduated from the Faculty of Mathematics and Information Technologies of Ulyanovsk State University; programmer at FRPC OJSC RPA Mars; is interested in control of mechanical-system motion. [e-mail: motorina.dyu@gmail.com.]D. Motorina

An Algorithm to Build Delayed Control for Mobile Wheeled Robot Taking Into Account Wheel Slip 25_3.pdf

The article deals with a tracking task for mobile robot with three roller-carrying wheels taking into account wheel slip and delay in feedback structure. To solve this task, the author suggests applying continuous control with saturation which represents a combination of relay control and quickly changing linear control. The article also cites an algorithm for control parameters and maximum value of system delay.

Tracking task, delayed control, roller-carrying wheels, wheel slip.

2011_ 3

Sections: Mathematical modeling, calculi of approximations and software systems

Subjects: Mathematical modeling, Information systems.


Daria Yuryevna Motorina, [e-mail: mars@mv.ru ]D. Motorina

Synthesis of Control for Mechanical Systems With Unknown Inertia Matrix Taking Into Account Delay in Feedback Structure 22_2.pdf

The article is devoted to tracking-task solution for mechanical systems with unknown inertia matrix and variable delay in feedback system. It justifies a continuous law of control with saturation, gives an algorithm for control-parameter finding. The applied approach is based on the use of Lyapunov vector-function with vector-norm components. This method allows the estimation of the maximum value of delay in the system and domain of initial displacements from a trajectory being tracked. A two-link manipulator on a mobile base is given as an example in the article.

Tracking task, delayed control, mechanical system with unknown inertia matrix, lyapunov vector-function.

2010_ 4

Sections: Mathematical modeling, calculi of approximations and software systems

Subjects: Mathematical modeling.


Daria Yuryevna Motorina, [e-mail: mars@mv.ru]D. Motorina

Control With Saturation in Tracking Task for Mechanical Systems Subject to Delay 19_3.pdf

The article deals with the task of tracking for mechanical system taking into account delay in the structure of feedback. It proves continuous law of control with saturation, which is an approximation of relay control. The approach is based on the use of Lyapunov vector-function with components in the form of vector norms. A mobile robot with three-roller wheel is considered in the article as an example.

Mechanical system, tracking task, control with saturation, delay, lyapunov vector-function, matrix norms, mobile robot with roller wheels.

2010_ 1

Sections: Theoretical issues of automation of command and control processes

Subjects: Mathematical modeling, Artificial intelligence.


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