کنفرانس مهندسی برق ایران

صفحه اصلی / بیست و نهمین کنفرانس مهندسی برق ایران

ℒ1 Adaptive Control Design Using CMPC: Applied to Single-Link Flexible Joint Manipulator

نویسندگان :

Hossein Ahmadian¹ Heidar Ali Talebi² Iman Sharifi³

1- صنعتی امیرکبیر (پلی تکنیک تهران) 2- صنعتی امیرکبیر (پلی تکنیک تهران) 3- صنعتی امیرکبیر (پلی تکنیک تهران)

کلمات کلیدی :

Continuous-Time Model Predictive Control (CMPC), ℒ1 Adaptive Control, Model Reference Adaptive Control (MRAC), Single-Link Flexible Joint Manipulator (SLFJM)

چکیده :

Controlling flexible robots is a challenging issue for a variety of reasons, including: highly nonlinear dynamics, strong coupling, time-varying specifications, vibration and deviation. In addition, the existence of dependent uncertainties on their dynamics and kinematics is inevitable, so that accurate models for controller design are not available in such systems. In this paper, one ℒ1 adaptive controller using continuous-time model predictive control (CMPC) is proposed for position tracking and removing vibration and deviation in single-link flexible joint manipulator (SLFJM) in presence of the unknown nonlinear dynamics and uncertainties. Eventually, the performance of the proposed method is evaluated by simulation of SLFJM and compare with model reference adaptive control (MRAC) and conventional ℒ1 adaptive control.

لیست مقالات

لیست مقالات بایگانی شده

Non-Invasive Blood Pressure Estimation using Poincaré Plot Indices of Photoplethysmography Signals

Fatemeh Shoeibi - Esmaeil Najafiaghdam - Afshin Ebrahimi

Sensor Faults Diagnosis in T-S Fuzzy Discrete Descriptor Systems Using Design a New Unknown Input Observer

Masoud Shafiee - Amir Abolfazl Suratgar - Mehdi Mirshahi

Design and Demonstration of a Novel Microfluidic Channel for Trapping Circulating Tumor Cells with Magnetophoresis

Atin Bakhshi - Seyed Ehsan Hosseininasab - Vahid Ghafouri - Mehdi Rahmanian - Majid Badiei Rostami

A Novel UAV-enabled V2V Mobile Network: A Reinforcement Learning Approach

Hossein Mohammadi Firouzjaei - Javad Zeraatkar - Mehrdad Ardebilipour

Stability Analysis of a New Switched SEIAR-Vac-Iso Epidemic Model for the COVID-19

Amir Hossein Amiri Mehra - Mohsen Shafieirad - Zohreh Abbasi - Iman Zamani

Implementation of a 14-Channel Real-time Compact Data Logger for Structure and Mechanical Engineering Laboratories

Keivan Sadeghinezhad - Esmaeil Najafiaghdam - Sara Dezhakam - Ali Sadeghinezhad

خلاصه سازی ویدیوهای کپسول آندوسکوپی با رویکرد یادگیری انتقالی

محدثه امیریان چایجان - رضا آقائی زاده ظروفی - مسعود رضا سهرابی

Modeling and Analysis of Segmental Translator Permanent Magnet Linear Switched Reluctance Motor

Milad Golzarzadeh - Hashem Oraee - Babak Ganji

بررسی تأثیر اجرای سازوکارهای بهره وری انرژی بر ظرفیت سنجی اقتصادی سیستم تأمین برق تجدیدپذیر برای ایستگاه های پایه مخابرات موبایل

بهروز عظیمی امینی - وحید محتشمی - حسین ابوترابی زارچی

Hybrid-Excited, Variable-Flux, and Inter-Modular Biased-Flux Motors: A Comparative Analysis

Mohammad Amirkhani - Ehsan Farmahini Farahani - Alireza Eikani - Mojtaba Mirsalim - Javad Shokrollahi Moghani

ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 40.4.2