Switched control of a SCARA robot with shared actuation resources
TLDR
In this article, the authors proposed to use a single amplifier to serve several actuators, rather than a separate amplifier for each actuator, to reduce the overall bill of materials.Citations
More filters
Journal ArticleDOI
Optimal multiplexing of sparse controllers for linear systems
TL;DR: This article treats two problems of sparse and optimal multiplexing a finite ensemble of linear control systems, one of which is a ballistic reachability problem where the control signals are required to be maximally sparse and multiplexed and the second concerns sparse and optimally multipleXed linear quadratic control.
Journal ArticleDOI
Prototype, emulation, implementation and evaluation of SCARA Robot in industrial environment
TL;DR: A 4- degree of freedom (DOF) Selective compliance Assembly Robot Arm (SCARA) robot has been implemented in an industrial domain for component handling and it has shown its efficacy on the basis of cycle time reduction by 50%, accuracy being improved to 100% operating cost reduction by 60%.
Posted Content
Stabilization under round robin scheduling of control inputs in nonlinear systems
TL;DR: It is proved that if a locally asymptotically stabilizing feedback controller is sparsified via the round robin scheme and each control action is scaled appropriately, then the corresponding equilibrium of the resulting system is stabilized when the scheduling is sufficiently fast.
Journal ArticleDOI
Offset-free MPC for resource sharing on a nonlinear SCARA robot⁎
TL;DR: A real-time MPC algorithm is developed for optimization of both the input and the switching signals and uses a novel offset-free formulation in velocity form for LTV prediction models to realize good tracking performance under the resource sharing constraints.
References
More filters
Book
Switching in Systems and Control
TL;DR: I. Stability under Arbitrary Switching, Systems not Stabilizable by Continuous Feedback, and Systems with Sensor or Actuator Constraints with Large Modeling Uncertainty.
Book
Feedback Control of Dynamic Systems
TL;DR: This introductory book provides an in-depth, comprehensive treatment of a collection of classical and state-space approaches to control system design and ties the methods together so that a designer is able to pick the method that best fits the problem at hand.
Book
Multivariable Feedback Design
TL;DR: In this article, a comprehensive and unified view of modern multivariate feedback theory and design is presented, where balancing techniques with theory, the objective throughout is to enable the feedback engineer to design real systems.
Book
Multivariable Feedback Design
TL;DR: This is the first text to give a comprehensive and unified view of modern multivariable feedback theory and design the feedback engineer to design real systems.