Синтеза дискретног оптималног управљања за манипулатор са три степена слободе са кашњењем по управљању

Abstract

In this paper, the problem, of synthesis optimal control for sampled-data time-delay object (the manipulator with three degrees of freedom) has been considered. The single time-delay in control which is appeared here is consequence of existence inertia driving parts of direct electric motor. So, the disturbed model of the manipulator is presented by equation of state with time-delay in control which is described by linear time-varying differential-difference equation. Problem is solved using suitable sampled-deata state equation and introducing state vector „augumented system“ it is possible to obtain discrete state equation of exposed model without time-delay. Then, according to optimal cost, the discrete optimal control can be easily obtained and implemented.