A 2-DOF robotic manipulator is affected by unknown external disturbances, which are defined by the parameterizing method. After that, the measured disturbance model is transferred into the filter model that is used to design the adaptive compensation. The adaptive compensation algorithm is based on the Sylvester equation. In the paper, the authors consider a specific case when the solution of the Sylvester equation is an irreversible matrix due to the interconnections of the MIMO channel. The static decoupling model approach is proposed for the problem solution, where the steady-state gain matrix is used as the static decoupler. The case of the irreversible steady-state gain matrix is also considered. It is suggested to use the pseudo-inverse of the steady-state gain matrix for this case.
Хоанг Д. (науч. рук. Дударенко Н.А.) ADAPTIVE COMPENSATION BASED ON PARAMETERIZING DISTURBANCES OF 2-DOF ROBOTIC MANIPULATOR WHEN MEASURING ONLY THE OUTPUT // Сборник тезисов докладов конгресса молодых ученых. Электронное издание. – СПб: Университет ИТМО, [2024]. URL: https://kmu.itmo.ru/digests/article/12177