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THE DESIGN OF FINITE-HORIZON SUBOPTIMAL CONTROLLER FOR A TWO-ARM ROBOT

A. I. Bobikov, Ph.D. (technical sciences), associate professor, department of automation and information technology in management, RSREU, Ryazan; This email address is being protected from spambots. You need JavaScript enabled to view it.
D. M. Grushin, master student, RSREU, Ryazan, This email address is being protected from spambots. You need JavaScript enabled to view it.

In the last few years great interest has been shown in the development of control algorithms for underactuated mechanical systems. This interest is caused by the necessity in stabilization systems such as ships, submersibles, helicopters, airplanes, airships, hovercrafts, satellites, walking robots, robot manipulators, etc. The necessity for such algorithms is seen in many practical situations. The motivation is that the drives are often expensive and / or heavy, so sometimes they need to be avoided in the design of the system. Regulation problem is considered for underactuated system with two-arm robot. The system is underactuated, because two-arm robot has two degrees of freedom (two swivel arms), but control has one signal only. The aim is to design a finite-horizon suboptimal controller based on state dependent riccati equation (SDRE) solution. Controller solves a regulation problem, which is translated by two-arm robot from the initial position to the position, where both arms are arranged vertically. Efficiency of the controller is shown by modeling in MATLAB.

Key words: regulation problem, SDRE finite-horizon controller, two-arm robot, underactuated system.

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