Video Experimental Relacionado

Updated: Feb 20, 2026

A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study

A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study

Published on: November 6, 2015

Control adaptativo de modo deslizante de tiempo fijo prescrito para manipuladores espaciales con incertidumbres en

Sheng Gao¹, Wei Zhang¹, Shaoqian Li²

¹State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, China.

ISA transactions

|February 18, 2026

Resumen

Este estudio presenta un control adaptativo de tiempo fijo para manipuladores espaciales, garantizando un seguimiento rápido y preciso a pesar de las perturbaciones y fallas. El novedoso método garantiza la estabilidad y el rendimiento del sistema, validados por simulaciones y experimentos.

Sus antecedentes:

Los manipuladores espaciales enfrentan desafíos complejos que incluyen perturbaciones externas, incertidumbres y fallas en los actuadores.
Lograr un control de seguimiento preciso y robusto en estas condiciones es fundamental para el éxito de la misión.
Los métodos de control existentes pueden tener dificultades con la convergencia rápida y los límites de rendimiento garantizados.

Conclusiones:

El control adaptativo de rendimiento prescrito de tiempo fijo desarrollado es eficaz y superior para manipuladores espaciales.
El enfoque aborda con éxito desafíos como perturbaciones, incertidumbres y fallas.
Ofrece una solución prometedora para operaciones robóticas espaciales de alto rendimiento.

Palabras clave:

incertidumbres de actuadores ley de control adaptativo control de tiempo fijo control de rendimiento prescrito manipulador espacial

Más Videos Relacionados

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator

Published on: October 28, 2022

Gain-compensation Methodology for a Sinusoidal Scan of a Galvanometer Mirror in Proportional-Integral-Differential Control Using Pre-emphasis Techniques

Gain-compensation Methodology for a Sinusoidal Scan of a Galvanometer Mirror in Proportional-Integral-Differential Control Using Pre-emphasis Techniques

Published on: April 4, 2017

Videos de Conceptos Relacionados

Controller Configurations

Controller Configurations

Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...

Time-Domain Interpretation of PD Control

Time-Domain Interpretation of PD Control

Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
Consider the example of control of motor torque. Initially, a positive...

Linear Approximation in Time Domain

Linear Approximation in Time Domain

Nonlinear systems often require sophisticated approaches for accurate modeling and analysis, with state-space representation being particularly effective. This method is especially useful for systems where variables and parameters vary with time or operating conditions, such as in a simple pendulum or a translational mechanical system with nonlinear springs.
For a simple pendulum with a mass evenly distributed along its length and the center of mass located at half the pendulum's length,...

Feedback control systems

Feedback control systems

Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...

PD Controller: Design

PD Controller: Design

In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...

One-Degree-of-Freedom System

One-Degree-of-Freedom System

In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...