Model based control schemes use the inverse dynamics of the robot arm to produce the main torque component necessary for trajectory tracking. For model-based controller one is required to know the model parameters acc...Model based control schemes use the inverse dynamics of the robot arm to produce the main torque component necessary for trajectory tracking. For model-based controller one is required to know the model parameters accurately. This is a very difficult task especially if the manipulator is flexible. So a reduced model based controller has been developed, which requires only the information of space robot base velocity and link parameters. The flexible link is modeled as Euler Bernoulli beam. To simplify the analysis we have considered Jacobian of rigid manipulator. Bond graph modeling is used to model the dynamics of the system and to devise the control strategy. The scheme has been verified using simulation for two links flexible space manipulator.展开更多
In this paper, approximate controllability of fractional order retarded semilinear systems is studied when the nonlinear term satisfies the newly formulated bounded integral contractor-type conditions. We have shown t...In this paper, approximate controllability of fractional order retarded semilinear systems is studied when the nonlinear term satisfies the newly formulated bounded integral contractor-type conditions. We have shown the existence and uniqueness of the mild solution for the fractional order retarded semilinear systems using an iterative procedure approach. Finally, we obtain the approximate controllability results of the system under simple condition.展开更多
文摘Model based control schemes use the inverse dynamics of the robot arm to produce the main torque component necessary for trajectory tracking. For model-based controller one is required to know the model parameters accurately. This is a very difficult task especially if the manipulator is flexible. So a reduced model based controller has been developed, which requires only the information of space robot base velocity and link parameters. The flexible link is modeled as Euler Bernoulli beam. To simplify the analysis we have considered Jacobian of rigid manipulator. Bond graph modeling is used to model the dynamics of the system and to devise the control strategy. The scheme has been verified using simulation for two links flexible space manipulator.
文摘In this paper, approximate controllability of fractional order retarded semilinear systems is studied when the nonlinear term satisfies the newly formulated bounded integral contractor-type conditions. We have shown the existence and uniqueness of the mild solution for the fractional order retarded semilinear systems using an iterative procedure approach. Finally, we obtain the approximate controllability results of the system under simple condition.
