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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

Institucijski repozitorij: Repozitorij Fakulteta strojarstva i brodogradnje Sveučilišta u Zagrebu

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Milić, V., Kasać, J. i 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, br. 4, 2023, str. 1-28. https://doi.org/10.3390/s23041952

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

Milić, V., Kasać, J. i Lukas, M. (2023) 'Min–Max Optimal Control of Robot Manipulators Affected by Sensor Faults', Sensors, 23(4), str. 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]. 09.02.2023. [pristupljeno 31.07.2024.];23(4):1-28. doi: 10.3390/s23041952

V. Milić, J. Kasać i M. Lukas, "Min–Max Optimal Control of Robot Manipulators Affected by Sensor Faults", Sensors, vol. 23, br. 4, str. 1-28, Veljača 2023. [Online]. Dostupno na: https://urn.nsk.hr/urn:nbn:hr:235:932535. [Citirano: 31.07.2024.]

Za citiranje koristite ovu mrežnu adresu: https://urn.nsk.hr/urn:nbn:hr:235:932535
Podaci o radu
Naslov (engleski)Min–Max Optimal Control of Robot Manipulators Affected by Sensor Faults
AutorVladimir Milić
AutorJosip Kasać
AutorMarin Lukas
Autorova ustanovaSveučilište u Zagrebu
Fakultet strojarstva i brodogradnje
Znanstveno / umjetničko
područje, polje i grana		TEHNIČKE ZNANOSTI
Strojarstvo
Sažetak (hrvatski)
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.
Jezikhrvatski
Vrsta publikacijeZnanstveni rad - Izvorni znanstveni rad
Status objaveObjavljen
Vrsta recenzijeRecenziran - međunarodna recenzija
Verzija publikacijeObjavljena verzija rada (izdavačev PDF)
Naslov časopisaSensors
Brojčani podacivol. 23, br. 4, str. 1-28, 1952
BPC0 EUR
e-ISSN1424-8220
DOIhttps://doi.org/10.3390/s23041952
URN:NBNurn:nbn:hr:235:932535
Datum objave publikacije2023-02-09
URL dokumentahttps://www.mdpi.com/1424-8220/23/4/1952
Vrsta resursaTekst
Prava pristupaOtvoreni pristup
Uvjeti korištenjaIkona licence Zaštićeno autorskim pravom.
Datum i vrijeme pohrane2024-07-17 14:40:08