One Robust, Dynamic Control Algorithm for Manipulation Systems

Abstract

By digital simulation of an elementary functional movement for the manipulation system with six rotational degrees of freedom, a few dynamic control algorithms are investigated. The basic control structure consists of program (nominal) control and compensating term, which should provide for nominal trajectory tracking under initial-condition perturbations. As compensating control in the stage of perturbed regimes, the following were observed: (1) decentralized control, that is, local linear control law on the each actuator subsystem level; (2) suboptimal control, where the linear term is the same as local control, but "global" term takes into consideration the disturbance acting upon the subsystem as the result of coupling with other subsystems; (3) control law consisting of linear local control and nonlinear compensator, synthesized using Liapunov's second method. Those control laws are compared with respect to stability, tracking, energy consumption, and computational efficiency.