0% Complete
صفحه اصلی
/
سی امین کنفرانس بین المللی مهندسی برق
An Uncertain Optimal Factorization of Cooperative Manipulators for Robust Optimal Control Schemes
نویسندگان :
Neda Nasiri
1
Ahmad Fakharian
2
Mohammad Bagher Menhaj
3
1- دانشگاه آزاد اسلامی واحد قزوین
2- دانشگاه آزاد اسلامی واحد قزوین
3- دانشگاه صنعتی امیرکبیر
کلمات کلیدی :
uncertain optimal SDC،robust optimal control،cooperative manipulators،Sliding Mode Control (SMC)،trajectory tracking
چکیده :
This paper presents two robust optimal controllers for Cooperative Manipulators (CoMans) holding an object on the basis of a modified factorization approach. Due to advantages such as: simplicity, flexibility, systematic procedure and not canceling nonlinearities, the State-Dependent Riccati Equation (SDRE) has been chosen as a basis for robust controllers design in the literature. For developing robust optimal controllers via SDRE, the first step is to obtain uncertain State-Dependent Coefficient (SDC) representation. To design robust optimal schemes for some systems such as CoMans, some terms such as gravity, friction and the external forces have been neglected in the uncertain SDC structure and added to the control input. This study, proposes two robust optimal controllers for CoMans carrying a load: Mixing SDRE-SMC (MiSS) and transformed robust to optimal controller where the pre-mentioned terms can be included in the uncertain SDC representation called uncertain optimal SDC. Simulation results are provided to easily verify the satisfactory performance of both schemes using uncertain optimal SDC and superiority of the transformed robust to optimal control versus MiSS in trajectory tracking of CoMans.
لیست مقالات
لیست مقالات بایگانی شده
Adaptive synchronous switching of uncompensated open transmission lines Realizing the line’s Parameters, and the pre-arcing interval
Alireza Karimonnafs - Mehdi Vakilian
Analysis the Effect of Partial Transmission Element on the Performance of Fano Laser
Mohammad Heydari - Mohammadhasan Yavari - Aref Rasoulzadeh Zali
Switched Robust Model Predictive Based Controller for UAV Swarm System
Erfan Nejabat - Amirhossein Nikoofard
Analysis and Simulation of the Formation and dimensions of Gate-Defined Double Quantum Dots
Mahya Mostafavi - Majid Shalchian
Simulation Analysis of Electrode Metal Influence on the Microcavity Effect in Organic Light-Emitting Diodes
Faezeh Rahimi - Mohammad Sedghi - Asghar Gholami
Detecting Variance Changes in Alarm Systems Using Generalized Delay-timers
Zahra Sharifi - Iman Izadi - Jafar Ghaisari
The Comparison of MXene and Graphene-Based Antennas for 5G/6G Communications
Javad Shokri Seyyedi - Gholamreza Moradi - Reza Sarraf Shirazi - Sepehr Sahab - Abolfazl Ebrahimpour
ℒ1 Adaptive Control Design Using CMPC: Applied to Single-Link Flexible Joint Manipulator
Hossein Ahmadian - Heidar Ali Talebi - Iman Sharifi
Deep Learning-Based Imitation of Human Actions for Autonomous Pick-and-Place Tasks
Anoosheh Saadati - Mehdi Tale Masouleh - Ahmad Kalhor
Deep Learning based Electrical Load Forecasting using Temporal Fusion Transformer and Trend-Seasonal Decomposition
Ehsan Saadipour-Hanzaie - Mohammad-Amin Pourmoosavi - Turaj Amraee
بیشتر
ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 42.0.4