0% Complete
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 Fallahinezhad
1
Maryam Malekzadeh
2
Alireza Ariaei
3
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
The Theory of A Novel Circuit Design For An Identification Processor Using 0.35µm CMOS Technology
Rouhollah Mohammadinasr - Kheirollah Hadidi - Farhad Piri
تاثیر روشهای کاهش سناریو و عدم قطعیتهای چندمتغیره بر عملکرد هاب انرژی
مهسا نعمتی فر - حسین شریف زاده
Design Comparison of BLDC and SR Motor Drives for Range Hood Applications
Aghil Ghaheri - Reza Naghash - Akbar Mohammadi Ajamloo - Ebrahim Afjei
Tuning of SMC Parameters for 3-DOF Spatial Parallel Robot Based on Whale Optimization Algorithm
Saeed Firuz Bahr Afzal - Amir Hossein Hassanabadi
Instantaneous Blind Audio Source Separation Using Characteristic Function of Heavy-Tailed Distributions
Kamran Rajabi - Mohammadreza Hassannejad Bibalan - Neda Faraji
A High Responsivity Plasmonic Internal Photoemission detector for Optical Communication
Faramarz Alihosseini - Aref Rasoulzadeh Zali - Tavakol Pakizeh - Hesam Zandi
CT Super-Resolution Using Arbitrary Scale Diffusion Model
Mahsa Nadafi Ghahnavieh - Saeed Masoudnia - Hamid Soltanian-Zadeh
مدلسازی نویز فاز در ساختار کاهنده نویز نوسانساز مبتنی بر تداخلسنجی
سیدمحمدعلی صدرقاینی - علی بنائی
One-Way Edge Modes Induced by Synthetic Magnetic Field in Time-Varying LC Circuit
Sadeq Bahmani - Amir Nader Askarpour
Non-pharmacological interventions for Covid-19 new variants with fractional order fuzzy type-2 PID
Hadi Delavari - Amir Veisi - Maryam Ranjbaran
بیشتر
ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 42.0.4