Abstract
The paper presents an advanced control design platform for tracking predefined tasks for a class of servicing systems referred to as robotic-like. A common feature of these ground, space or underwater systems is that they are designed to perform a variety of tasks and missions, so they all can be viewed as constrained systems. The control platform takes advantage of model-based control for constrained systems, either on a dynamics or kinematics level. The models are control-oriented what means that they account for tasks to be controlled and all other constraints put on systems or controller properties. The control platform is a fusion of an advanced modeling method for constrained systems and a new control strategy for tracking predefined tasks. It outperforms existing control methods since constraints on systems may be of an arbitrary order and type, and a constrained dynamics is in a reduced-state form, so it is ready for a controller design. A control implementation may rely upon embedded robotics which provides small and inexpensive embedded computer systems for control execution. The control design conforms then to modern mechatronics solutions that enable realizations of sophisticated control algorithms. Examples of controller designs for robotic-like systems and the control platform comparison to the traditional, Lagrange model-based method are presented.
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Jarzębowska, E. (2015). Advanced Task Tracking Control Design for Robotic-Like Systems. In: Awrejcewicz, J., Szewczyk, R., Trojnacki, M., Kaliczyńska, M. (eds) Mechatronics - Ideas for Industrial Application. Advances in Intelligent Systems and Computing, vol 317. Springer, Cham. https://doi.org/10.1007/978-3-319-10990-9_20
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DOI: https://doi.org/10.1007/978-3-319-10990-9_20
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