0% Complete
صفحه اصلی
/
بیست و نهمین کنفرانس مهندسی برق ایران
Robust IDA-PBC for a Spatial Underactuated Cable Driven Robot with Bounded Inputs
نویسندگان :
Mohammad Reza Jafari Harandi
1
S. Ahmad Khalilpour
2
Hamid Taghirad
3
1- دانشگاه صنعتی خواجه نصیرالدین طوسی
2- دانشگاه صنعتی خواجه نصیرالدین طوسی
3- دانشگاه صنعتی خواجه نصیرالدین طوسی
کلمات کلیدی :
Passivity-based control, underactuated cable driven robot, robustness, bounded input
چکیده :
Stabilization of underactuated systems is a challenging problem especially when external disturbance is applied and the actuators are limited. Interconnection and damping assignment passivity-based control (IDA-PBC) provides a general framework to stabilize the systems represented by port Hamiltonian modeling such as underactuated robots while its application is restricted by some partial differential equations. In this paper, IDA-PBC methodology is applied to a spatial 3-DOF underactuated cable driven robot. A robust term with respect to bounded matched disturbance is designed, positive tension in cables by suitable defining the parameters is considered and stability of the system is ensured by Lyapunov direct method. simulation results illustrate the effectiveness of the proposed controller.
لیست مقالات
لیست مقالات بایگانی شده
A High Dynamic Range Differential Rectifier for RF Energy Harvesting
Ataollah Mahsafar - Mohammad Yavari
سیستم تشخیص فعالیت مبتنی بر مدلسازی تصویری تنک اطلاعات حالت کانال و شبکه عصبی کانولوشنی
علیرضا ابوالقاسمی - سید محمد تقی المدرسی - سید مجتبی آقایی
بازآرایی پویا شبکه توزیع با حضور ایستگاه شارژ خودرو الکتریکی به کمک یادگیری تقویتی
محمدامین ساعدی - صالح رازینی - محمدامین قاسمی
True Random Number Generator Relying on Multiple Entropy Source and Triple Oscillator for Cryptography Purposes
Somayeh Gholam Mehraban - Mohsen Jalali - Mostafa Azadbakht
A Coronavirus Herd Immunity Optimizer For Intrusion Detection System
Amir Soltany Mahboob - Hadi Shahriar Shahhoseini - Mohammad Reza Ostadi Moghaddam - Shima Yousefi
Back-Stepping Integral Sliding Mode Control with Iterative Learning Control Algorithm for Quadrotor UAV Transporting Cable-Suspended Payload
Davood Allahverdy - Ahmad Fakharian - Mohammad Bagher Menhaj
Optimization of a three-phase Induction Motor for Electric Vehicles Based on Hook-Jews Optimization Method
Arash Mousaei - Naghi Rostami - Mohammad Bagher Bannae Sharifian
Scaled CR-(RC)n Digital Filter Design for Precision Pulse Processing in Spectroscopy Applications
MohammadReza Fazli - Nasser Masoumi - Hamid Rahimpour
Optimized 5G-MMW Compact Yagi-Uda Antenna Based on Machine Learning Methodology
Alireza Jafarieh - Mahdi Nouri - Hamid Behroozi
Location of Distributed Generation in the Distribution Network concerning of Capacity Credit with the TLBO Optimization Algorithm
Mohammadali Arash - Mohammad Khakroei
بیشتر
ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 43.6.0
