Control synthesis of robotic manipulator by Lyapunov's direct method in conditions of incomplete information

摘要

The problem of synthesis of the control algorithm providing robotic manipulator (RM) motion according to the preset trajectory with the Lyapunov function method and a fully nonlinear model of a dynamic system is solved. The RM functioning under indeterminacy conditions and influence of external disturbances and noises resulting from the measurement errors of constituents of the system state vector is considered. Indefinite values are considered as some functions, for which the restricted multiple estimators exist on a case-by-case basis. The issue of estimation of the state vector of the dynamic system, which includes generation of its guaranteed incorporating information sets and prediction sets is solved; a step-by-step calculation procedure for values of the Lyapunov functions providing sufficient conditions for dynamic system stability is considered based at these sets.