0% Complete
صفحه اصلی
/
بیست و نهمین کنفرانس مهندسی برق ایران
ℒ1 Adaptive Control Design Using CMPC: Applied to Single-Link Flexible Joint Manipulator
نویسندگان :
Hossein Ahmadian
1
Heidar Ali Talebi
2
Iman Sharifi
3
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
Fabrication, Simulation and Modeling of a T-Shaped Coaxial Stub Resonator
Abolfazl Ebrahimpour - Sepehr Sahab - Javad Shokri Seyyedi - Younes Sahranavard - Gholamreza Moradi
Outage Analysis of Distributed Relaying NOMA in Cognitive Radio Networks
Zahra Doorbash - Ali Jamshidi
Sensor Faults Diagnosis in T-S Fuzzy Discrete Descriptor Systems Using Design a New Unknown Input Observer
Masoud Shafiee - Amir Abolfazl Suratgar - Mehdi Mirshahi
Rank-Based Adaptive Brooding in a Mimetic Coral Reefs Search for Feature Selection
Seyed Amirhossein Farjadi - Mohammad Reza Akbarzadeh Totonchi
Investigation of Cross-coupling Effects on Grid-connected Inverters with LCL Filter Based on RGA Analysis
Ali Rezaei - Mohsen Hamzeh - Nima Mahdian Dehkordi
کنترل بازوی ربات دو درجه آزادی با کنترلکننده مود لغزشی مرتبه کسری فازی-تطبیقی پایانهای
مائده نفیسی فر - متین جزءاسلامی - ابوالفضل جلیلوند - سمیرا نریمان پور - فرهاد بیات
Design of a Retinal Prosthesis Circuit With In-pixel Edge Detection Capability
Zahra Bonesbordi - Sayed Masoud Sayedi
Bag of Freebies Techniques to Improve Face Detection Accuracy for Small Faces
Nahid Seyed Ebrahimian - Azadeh Ashouri - Reza Akhoundzade - Mohammad Reza Mohammadi
Analysis the Effect of Partial Transmission Element on the Performance of Fano Laser
Mohammad Heydari - Mohammadhasan Yavari - Aref Rasoulzadeh Zali
جداسازی عروق در تصاویر شبکیه چشم با استفاده از یک روش آستانه گذاری وفقی مبتنی بر اطلاعات محلی و سرتاسری
زهرا نورانی آتشگاه - محمد آراسته - آیدا فولادی وندا
بیشتر
ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 42.5.3