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Robust adaptive control of voltage saturated flexible joint robots with experimental evaluations | ||
| AUT Journal of Modeling and Simulation | ||
| مقالات آماده انتشار، پذیرفته شده ، انتشار آنلاین از تاریخ 09 مرداد 1396 | ||
| نوع مقاله: Research Paper | ||
| شناسه دیجیتال (DOI): 10.22060/miscj.2017.12174.5008 | ||
| نویسنده | ||
Alireza Izadbakhsh 
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| Department of Electrical Engineering, Garmsar branch, Islamic Azad University, Garmsar, Iran | ||
| چکیده | ||
| This paper is concerned with the problem of design and implementation a robust adaptive control strategy for flexible joint electrically driven robots (FJEDR), while considering to the constraints on the actuator voltage input. The control design procedure is based on function approximation technique, to avoid saturation besides being robust against both structured and unstructured uncertainties associated with external disturbances and un-modeled-dynamics. Stability proof of the overall closed-loop system is given via the Lyapunov direct method. The analytical studies as well as experimental results produced using MATLAB/SIMULINK external mode control on a single-link flexible joint electrically driven robot demonstrate high performance of the proposed control schemes. | ||
| کلیدواژه ها | ||
| Robust Adaptive Control؛ real-time Implementation؛ Actuator saturation؛ Function approximation technique | ||
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آمار تعداد مشاهده مقاله: 38 |
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