Title: Models and algorithms of the positioning and trajectory stabilisation system with elements of structural analysis for robotic applications

Authors: Anton Zhilenkov; Sergei Chernyi

Addresses: Department of Control Systems and Informatics, ITMO University, Kronverskiy st., 49, Saint-Petersburg, 198000, Russia ' Department of Comprehensive Information Security, Admiral Makarov State University of Maritime and Inland Shipping, Dvinskaya st., 5/7 Str., Saint-Petersburg, 198035, Russia

Abstract: The efficiency of mobile robotic systems in different applications including wearable robotics, underwater and even spacecraft application, and therefore the efficiency of solving the tasks assigned to them, is significantly determined by the functionality of these control systems, their technical and operational features. Biomechatronic systems with microactuators possess the most extensive functional capabilities, but their essential disadvantage is the consumption of the energy, which limits the useful operation time of the whole system. To solve the research problem aspect and number of similar tasks aimed at increasing the energy efficiency trajectory planning tasks for mechatronic systems, it is necessary to assess the degree of impact of various factors on the operation of these systems including positioning system functionality. The simulation includes an assessment of the reliability of calculating the Earth's magnetic field parameters, as well as an assessment of the quality of object stabilisation by resetting the total momentum with the aid of the system under review.

Keywords: neural models; trajectories planning; adaptive; control; identification; spacecraft; modelling; operating; coordinates.

DOI: 10.1504/IJES.2019.104005

International Journal of Embedded Systems, 2019 Vol.11 No.6, pp.806 - 814

Received: 10 Oct 2018
Accepted: 10 Jan 2019

Published online: 03 Dec 2019 *

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