کنفرانس مهندسی برق ایران

صفحه اصلی / سی امین کنفرانس بین المللی مهندسی برق

Super twisting sliding mode incorporated with USDE for tracking control of nonlinear robotic systems

نویسندگان :

Ahmadreza Fallahinezhad¹ Maryam Malekzadeh² Alireza Ariaei³

1- دانشگاه اصفهان 2- دانشگاه اصفهان 3- دانشگاه اصفهان

کلمات کلیدی :

Unknown system dynamics estimator،Nonlinear robotics control،Delta robot،Super twisting sliding mode

چکیده :

This study aimed to improve the control scheme incorporated into the unknown system dynamics estimator (USDE) to deal with unknown dynamics and external disturbances. In comparison with the nonlinear disturbance observer (NDO) that requires calculating the inverse of the inertia matrix, USDE can be easily implemented, and their parameter tuning is more straightforward. We use the super twisting sliding mode algorithm (STA) to achieve a faster convergence rate and increase tracking performance. The closed-loop stability of the new composite controller is proved. Finally, the improvement of the new hybrid proposed controller is confirmed by using numerical simulation and experimental tests on a DELTA robot. Then the performance of the new controller is compared with the previous method.

لیست مقالات

لیست مقالات بایگانی شده

بهبود تخصیص منابع لبه‌ها در شبکه LTE مبتنی بر محاسبات لبه با رویکرد تعادل میان تاخیر و قابلیت اطمینان

ایمان عظیمی احمدآبادی - علی اکبر تدین تفت

Automotive radar target classification using micro-Doppler features

Amin Aghatabarroodbary - Mohammad Hassan Bastani - Fereidoon ‌‌Behnia

A 0.5-V Ultra-Low-Power Low-Pass-filter with Low Noise for ECG detection system

Yasin Heydarzadeh - Mehran Khanehbeygi - Sajad Sohrabian - Ziaddin Daie Koozehkanani

A New Optimal Design of a Solar Power Plant On The Rooftop of Bovisa Train Station in Milan

Omid Nasirkhani - Mohsen Tamaddon

Binomial Distribution based K-means for Graph Partitioning Approach in Partially Reconfigurable Computing system

Zahra Asgari - Maryam Sadat Mastoori

Low-Loss, Low-Drive Voltage, and High-Bandwith Thin-Film Lithium Niobate Modulator Using Coaxial Transmission Line

Mohsen Karimian Kakolaki - Ahmad Bakhtafrouz - Parisa Karimi

HIV Virus States Estimation by Extended Kalman Particle Filter

Meysam Hooshmand - Mahtab Sharifian - Hamid Sharifian - Javad Mahmoudi

Direct model reference adaptive control for depth of hypnosis in anesthesia

Raha Rahimi - Farzaneh Shayegh - Marzieh Kamali

Efficiency Enhancement of Heterojunction IBC Solar Cell: Surface Passivation

Amirmohammad Shahryari - Zohreh Golshan bafghi - Negin Manavizadeh

امکان سنجی نظری آشکارسازی گاز سولفید هیدروژن توسط سیلی گرافن (g-SiC2)

حامد مهدوی نژاد - رزا صفایی - محمدحسین شیخی

بیشتر

ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 42.3.2