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2012 IEEE 17th International Conference on Engineering of Complex Computer Systems
Control System with High Robust Stability Characteristics Based on Catastrophe Function
Paris, France France
July 18-July 20
ISBN: 978-1-4673-2156-3
This paper briefly describes an approach to assure robustness of a dynamic system. Its primary focus is on robust stability, not robust performance, in the presence of parameter variations and model uncertainties. The proposed control scheme makes use of catastrophe functions with three control factors and two behavior axes. Based on our analysis, the paper presents the conditions for converging to an equilibrium point and explains how to implement a controller to achieve robust stability. As a practical case, design of a control system for a robotic manipulator and the corresponding numerical simulations are presented. The results indicate that the range of robust stability can be extended using the proposed approach.
Index Terms:
Mathematical model,Equations,Robust stability,Numerical simulation,Stability analysis,Manipulator dynamics,Joints,equilibrium,robust stability,robust control,catastrophe function
Citation:
Gulnara Abitova, Vladimir Nikulin, Victor Skormin, Mamirbek Beisenbi, Aliya Ainagulova, "Control System with High Robust Stability Characteristics Based on Catastrophe Function," iceccs, pp.273-279, 2012 IEEE 17th International Conference on Engineering of Complex Computer Systems, 2012
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