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
سیستم تشخیص فعالیت مبتنی بر مدلسازی تصویری تنک اطلاعات حالت کانال و شبکه عصبی کانولوشنی
علیرضا ابوالقاسمی - سید محمد تقی المدرسی - سید مجتبی آقایی
A 0.5-V Ultra-Low-Power Low-Pass-filter with Low Noise for ECG detection system
Yasin Heydarzadeh - Mehran Khanehbeygi - Sajad Sohrabian - Ziaddin Daie Koozehkanani
A Vibration Measurement Device for Condition Monitoring of Medium-Voltage Circuit Breakers
Aref Nikraftar Khameneh - Mohammad Hamed Samimi
Defects Dynamics in Multilayer h-BN Resistive Switching Memories: A Molecular Dynamics Investigation
Omid Babaeinejad - Maryam Keshavarz Afshar - Ebrahim Nadimi
A Practical ACO-OFDM Link with an Efficient Timing Recovery Pattern
Maryam Sadeghi - Masoud Johar - Mahdi Shabany
یک روش جدید در تشخیص اختلال طیف اوتیسم از تصاویر چهره کودکان با استفاده از معماری چندمقیاسی MS-ViT و پردازش لبهای
خسرو رضائی - طیبه شمولی جوانمردی - امیر محمد حیدری
Design and Simulation of a MEMS Capacitive Switch With Low Pull-in Voltage and High Switching Speed
Davoud Razaghpoor - Mir Majid Ghasemi - Saeid Afrang - Amir Fathi - Asma Akbarli
Strategic Offering of a Virtual Power Plant in Energy Markets Under Contingency Conditions: A Hybrid Stochastic Robust Optimization Approach
Elahe Ghanaee - Morteza Rahimiyan
Switchable Chain Configurable RO PUF for Enhancing Hardware Security of IoT Devices
Niloufar Sayadi - Mohammad Eshghi
Application of Max Flow- Min Cut Theory to find the best placement Of Electronic-based DC-PFCs for enhancing static security in MT-HVDC Meshed Grids
Mir Hamed Pour Mir Asghariyan - Jafar Milimonfared - Seyed Saeid Heidari Yazdi - Ali Haji Ali Biglo - Kumars Rouzbehi
ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 40.4.2