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
Hybrid PI-SOSM Controller for Battery and Supercapacitor Integration in Electric Vehicles
Maede Azimi - Ghasem Rezazadeh - Mohsen Hamzeh
مدل سازی دینامیکی ژنراتور سنکرون آهنربای دائم (PMSG) و تحلیل رفتار آن در شرایط عیب اتصال حلقه استاتور
مجید محرمی - منصور اوجاقی
Carbon Doping and Defect Engineering in Hexagonal Boron Nitride: Insights from First-Principles Calculations
Matin Bakhtavari Mamagani - Maryam Keshavarz Afshar - Ebrahim Nadimi
طراحی و پیاده سازی ژنراتور تولید کننده پالس PFN-Marx فشرده و ماژولار برای تولید پالس 25 کیلوولتی
محمد حسین رنجبر - محمدجواد گل علی پور
GAN-Driven Image Generation for Metamaterial Absorbers Using Mean and Variance Encoding
Atefe Shahsavaripour - Mohammad Hossein Badiei - Leila Yousefi - Ahmad Kalhor
پیشبینی بازار سرمایه به کمک دادهکاوی با الگوریتمهای رگرسیونی
شیوا نمایان - محمدشهرام معین
Forecasting Tehran Stock Exchange Trend with Time Series Analysis, Fundamental Data, and Sentiment Analysis in News
Mahdi Shamisavi - Amir Jahanshahi
Efficiency Estimation Methods of In-Service Induction Motors-A Review
Moslem Geravandi - Hassan Moradi CheshmehBeigi
Location of Distributed Generation in the Distribution Network concerning of Capacity Credit with the TLBO Optimization Algorithm
Mohammadali Arash - Mohammad Khakroei
Angular Stable Multiband Miniaturized Flexible Frequency Selective Surface
Mozhgun Moazzamnia - Javad Nourinia - Changiz Ghobadi - Keyhan Hosseini - Mohsen Karamirad - Baman Mohammadi
بیشتر
ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 42.5.3