0% Complete
صفحه اصلی
/
سی و سومین کنفرانس بین المللی مهندسی برق
Robust Neuro-Adaptive Fuzzy Sliding Mode Control for a Remotely Operated Underwater Vehicle Manipulator
نویسندگان :
Mahdi Armoon
1
Marzie Lafouti
2
Babak Tavassoli
3
Hamid D. Taghirad
4
1- دانشگاه صنعتی خواجه نصیرالدین طوسی
2- دانشگاه صنعتی خواجه نصیرالدین طوسی
3- دانشگاه صنعتی خواجه نصیرالدین طوسی
4- دانشگاه صنعتی خواجه نصیرالدین طوسی
کلمات کلیدی :
Remotely operated underwater vehicles،Robotic manipulators،Sliding mode control،Fuzzy logic،RBF neural network
چکیده :
Considering the increase in the various applications of remotely operated underwater vehicle (ROV) in recent years, this research proposes a fuzzy sliding mode control method using radial basis function neural networks (RBF-NNs) in order to enhance trajectory tracking by a 6 degree of freedom (DoF) remotely operated underwater vehicle manipulator. Sliding mode control is utilized as the central part of this method which leads to robustness against the highly nonlinear dynamics of the robot as well as the uncertainties and disturbances in the hydrodynamical underwater environments while performing high precision tasks. For this end, the capabilities of the sliding mode control are enhanced by employing an adaptive fuzzy sliding mode controller (AFSMC), with a proportional-–integral-–derivative (PID) sliding surface. To provide the adaptiveness, radial basis function neural networks are utilized to estimate the nonlinearities of the manipulator dynamics. The performance and robustness of the proposed controller are verified through simulation experiments under several different conditions.
لیست مقالات
لیست مقالات بایگانی شده
Optimal Control of Rectangular Singular Systems
Masoud Shafiee
Brain Effective Connectivity Comparision in Different States of Familiarity and Desiring Brands Confrontation: a Neuromarketing Study
Mahdi Taghaddossi - Mohammad Hasan Moradi
Sparsity Domain Smoothing Based Thresholding Recovery Method for OFDM Sparse Channel Estimation
Mohammad Hossein Bahonar - Reza Ghaderi Zefreh - Rouhollah Amiri
Human Action Recognition in Still Images Using ConViT
Seyed Rohollah Hosseyni - Sanaz Seyedin - Hassan Taheri
Dual-Input Single-Output High Step-Up DC-DC Converter for Renewable Energy Applications
Farid Mohammadi - Amir Khorsandi
Enhancing Disaster Communication: Multi-UAV Optimization for Efficient Coverage
Amirhossein Solati - Javad Zeraatkar Moghaddam - Mehrdad Ardebilipour
Simulation of Two Metal- Semiconductor- Metal Photodetectors for Sensing Power and Angle of Incident Light
Shakila Karami - Maryam Khodadai - Nosrat Granpayeh
مقایسهگر پویا با قابلیت کار در شرایط زیر آستانه بر اساس منطق Pseudo-NMOS
سید سعید حسینی دولت آبادی - محسن جلالی
Design and fabrication of wearable and stretchable EEG headband using textile-based electrode wire
Kourosh Motiepor - Arman Modoudi Yaghouti - Simin Bakhtiyari - Amir Jahanshahi - Roohollah Bagherzadeh
A Fault-Tolerant Strategy for Load Non-Interrupted Power Supply in CHB Converter Based on Modified Level Shift PWM
Farzaneh Aslani-Gaznag - Armin Panahi - Yousef Neyshabouri
بیشتر
ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 42.8.0