0% Complete
صفحه اصلی
/
سی و یکمین کنفرانس بین المللی مهندسی برق
Stability Analysis for the Non-linear Model Predictive Control of a Flexible Joint Manipulator with Dynamics Uncertainties
نویسندگان :
Mohamadreza Satvati
1
Hossein Karimpour
2
Keivan Torabi
3
Mohammad Motaharifar
4
1- دانشگاه اصفهان
2- دانشگاه اصفهان
3- دانشگاه اصفهان
4- دانشگاه اصفهان
کلمات کلیدی :
ISS stability،NMPC control،Flexible joints،robotics
چکیده :
In this research, the problem of controlling a one link robot with joint flexibility by the non-linear model predictive control method (NMPC) is considered. The issue concerning the input-to-state stability (ISS) of the NMPC (NMPC) has been proven. The cost function of the NMPC problem can actually play the role of the Lyapunov function. By choosing an appropriate cost function in the NMPC optimization part, the ISS stability of the system in the presence of disturbances and uncertainties such as robot joint flexibility can be reached. In this survey, two modeling examples for a single-link robot have been investigated. In this paper, some unmeasurable variables exist that can be considered as a portion of the system state variables. This unmeasured states are representative of the unmodeled dynamics which may stand for either the flexibility at the joint or of the link itself. In the first example the control input is the actuation torque and in the second one the voltage to the motor. The simulation results show the effectiveness and stability of the proposed approach in presence of disturbances and system uncertainties.
لیست مقالات
لیست مقالات بایگانی شده
ارزش گذاری منابع تولید پراکنده به منظور توسعه شبکه توزیع برق به کمک نظریه بازیها
شایان مرادیان - حبیب رجبی مشهدی
Kernel-Based Band Selection for Hyperspectral Image Classification
Mehdi Kamandar
A Method Based on Attention Mechanism using Bidirectional Long-Short Term Memory(BLSTM) for Question Answering
Seyed Vahid Moravvej - Mohammad Javad Maleki Kahaki - Moein Salimi Sartakhti - Abdolreza Mirzaei
Design and Manufacturing of a Programmable Spin Coater Based on a Brushless DC Motor
MirBehrad Mousavi - Saeed Javadizadeh - Seyed Ahmadreza Firoozabadi - Majid Badieirostami
Adaptive Fault Tolerant Control in Time-Varying Formation of Multi-Agent Systems
Elham Bahrampour - Mohammad Tavazoei
RCS Calculation of a Symmetrical Microstrip Array Using Discrete Bodies of Revolution Method
Hossein Mohammadzadeh - Abolghasem Zeidaabadi Nezhad - Zaker Hossein Firouzeh
A Modified Suspended Carrier Transmitter for Medical Implants
Khashayar Dehghan - Omid Shoaei - Shahin Jafarabadi Ashtiani
Structural Stability and Electron Density Analysis of Doped Antimonene: A First-Principles Study
Arash Yazdanpanah Goharrizi - Peyman Saberi Parsa
کدینگ فیبوناچی جهش یافته: ارائه یک روش برای افزایش قابلیت اطمینان در شبکههای روی تراشه سهبعدی
مجتبی فرمانی - سروین ناظر جعفری - زهرا شیرمحمدی
Autonomous, Bio-inspired vision-based navigation system for indoor flying using hybrid optical flow and stereopsis methods
Masoud Mohtadifar - Hadi Seyedarabi
ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 40.4.2