کنفرانس مهندسی برق ایران

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 Harandi¹ S. Ahmad Khalilpour² Hamid Taghirad³

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

Positioning a Moving Target Using Range and Doppler-Rate Measurements with Bi-static Radar

MohammadAmin Latifi - Fereidoon Behnia

Design and Implementation of a Flexible CNN Accelerator for Fast Real-Time Object Detection on FPGA

Emadodin Sakhaee - Mahdi Kalbasi

Compare Efficiency of Modeled and Designed Tilt Bi-rotor, Quad-rotor, and Hexa-rotor in Agriculture Application

Arshia Rezaei - Amin Talaeizadeh - Aria Alasti

Precise model extraction for Li-Ion batteries using segmented Columb counting and Kalman filtering

Ali Fotokkiani - Ali Ghanbarian - Amirhossein Esteghamat - Ali Fotowat-Ahmady - Farzad Tahami

A 30dB and 250μW High Linear Variable Gain Amplifier with Employing Gm-boosting and Common Mode Feedforward Techniques

Mehdi Shahabi

Deep Learning Meets Explainable AI: A Robust Framework for X-Ray Fracture Detection

Ali Tamizifar - Shakiba Berenjkoub - Mina Amiri

Using the Artificial Bee Colony (ABC) Algorithm in Collaboration with the Fog Nodes in the Internet of Things Three-layer Architecture

Shakoor Vakilian - Seyed Vahid Moravvej - Ali Fanian

Scalable Multipurpose Smart Indoor Lighting System for Wireless Sensor Networks

Atefesadat Seyedolhosseini - Reza Nemati - Hossein Maghsoumi - Shokrollah Karimian - Nasser Masoumi

تخمین غلظت ید و زینان در یک نیروگاه هسته‌ای با استفاده از فیلتر کالمن بی‌رد تحت شرایط مختلف توان راکتور

حسین زحمتکش - حسین الیاسی

Enhancing the Performance of Piezoelectric Sensors Using RTV2 Elastomer Coatings

Amirreza Kamali - Amirhossein Jafari - Ehsan Maani Miandoab

بیشتر

ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 42.5.3