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Scientific paper - Original scientific paper
Min–Max Optimal Control of Robot Manipulators Affected by Sensor Faults
Sensors, 23 (2023), 4; 1-28. https://doi.org/10.3390/s23041952
Milić, Vladimir; Kasać, Josip; Lukas, Marin

Institutional repository: Repository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb

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Milić, V., Kasać, J. & Lukas, M. (2023). Min–Max Optimal Control of Robot Manipulators Affected by Sensor Faults. Sensors, 23. (4), 1-28. doi: 10.3390/s23041952

Milić, Vladimir, et al. "Min–Max Optimal Control of Robot Manipulators Affected by Sensor Faults." Sensors, vol. 23, no. 4, 2023, pp. 1-28. https://doi.org/10.3390/s23041952

Milić, Vladimir, Josip Kasać and Marin Lukas. "Min–Max Optimal Control of Robot Manipulators Affected by Sensor Faults." Sensors 23, no. 4 (2023): 1-28. https://doi.org/10.3390/s23041952

Milić, V., Kasać, J. and Lukas, M. (2023) 'Min–Max Optimal Control of Robot Manipulators Affected by Sensor Faults', Sensors, 23(4), pp. 1-28. doi: 10.3390/s23041952

Milić V, Kasać J, Lukas M. Min–Max Optimal Control of Robot Manipulators Affected by Sensor Faults. Sensors [Internet]. 2023 February 09 [cited 2024 December 28];23(4):1-28. doi: 10.3390/s23041952

V. Milić, J. Kasać and M. Lukas, "Min–Max Optimal Control of Robot Manipulators Affected by Sensor Faults", Sensors, vol. 23, no. 4, pp. 1-28, February 2023. [Online]. Available at: https://urn.nsk.hr/urn:nbn:hr:235:932535. [Accessed: 28 December 2024]

Metadata
Title (english)Min–Max Optimal Control of Robot Manipulators Affected by Sensor Faults
AuthorVladimir Milić
AuthorJosip Kasać
AuthorMarin Lukas
Author's institutionUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract (croatian)
This paper is concerned with the control law synthesis for robot manipulators, which guarantees that the effect of the sensor faults is kept under a permissible level, and ensures the stability of the closed-loop system. Based on Lyapunov’s stability analysis, the conditions that enable the application of the simple bisection method in the optimization procedure were derived. The control law, with certain properties that make the construction of the Lyapunov function much easier—and, thus, the determination of stability conditions—was considered. Furthermore, the optimization problem was formulated as a class of problem in which minimization and maximization of the same performance criterion were simultaneously carried out. The algorithm proposed to solve the related zero-sum differential game was based on Newton’s method with recursive matrix relations, in which the first- and second-order derivatives of the objective function are calculated using hyper-dual numbers. The results of this paper were evaluated in simulation on a robot manipulator with three degrees of freedom.
Languagecroatian
Publication typeScientific paper - Original scientific paper
Publication statusPublished
Peer reviewPeer review - international
Publication versionPublished version
Journal titleSensors
Numberingvol. 23, no. 4, pp. 1-28, 1952
BPC0 EUR
e-ISSN1424-8220
DOIhttps://doi.org/10.3390/s23041952
URN:NBNurn:nbn:hr:235:932535
Publication2023-02-09
Document URLhttps://www.mdpi.com/1424-8220/23/4/1952
Type of resourceText
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2024-07-17 14:40:08