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.