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کنترل مدلغزشی هیپربولیک دوگانه برمبنای فیلتر کالمن خنثی برای بازوی رباتیک سهپا | ||
| نشریه مهندسی مکانیک امیرکبیر | ||
| مقاله 4، دوره 53، شماره 4، تیر 1400، صفحه 2105-2116 اصل مقاله (2.28 M) | ||
| نوع مقاله: مقاله پژوهشی | ||
| شناسه دیجیتال (DOI): 10.22060/mej.2020.17517.6609 | ||
| نویسندگان | ||
| سید علیرضا قریشی؛ امیر فرهاد احیائی* ؛ مهدی رحمانی | ||
| گروه مهندسی برق-کنترل، دانشگاه بین المللی امام خمینی، قزوین | ||
| چکیده | ||
| در این مقاله ابتدا مدلسازی ریاضی و سه بعدی یک بازوی رباتیک سه پا با قابلیت حمل اجسام در سطوح ناهموار ارائه میشود، سپس با در نظر گرفتن اغتشاشات محیط و نویز، روش کنترلی مناسبی پیشنهاد میشود. کنترل این ساختار به دلیل دینامیک غیرخطی و خاص آن و حضور اغتشاشات و تاثیرات محیطی مسالهای بسیار مهم و پیچیده است و کنترلر ربات باید قادر باشد تا در سریعترین زمان ممکن ضمن غلبه بر اغتشاشات و نویز محیط، ربات را در وضعیت مناسب قرار دهد. در این راستا، در مقاله حاضر روش کنترل مدلغزشی هیپربولیک دوگانه بر مبنای فیلتر کالمن خنثی برای سیستمهای رباتیک سهپا شامل بازو توسعه داده شده و پایداری سیستم با بکارگیری تئوری توابع لیاپانوف اثبات میشود. در طراحی کنترلر پیشنهادی ضمن در نظر گرفتن اغتشاش در مدل دینامیکی سیستم از فیلتر کالمن خنثی برای کاهش اثر نویز بهره گرفته شده است که خود سبب بهبود عملکرد مقاوم سیستم در شرایط سخت میشود. در انتها عملکرد کنترلر ارائه شده در مقایسه با دو کنترلر دینامیک معکوس و کنترل مدلغزشی انتگرالی بر روی سیستم رباتیک انتخابی مورد ارزیابی قرار میگیرد که نتایج، نشاندهنده سرعت عمل و دقت بیشتر در پاسخ سیستم است. | ||
| کلیدواژهها | ||
| بازوی متحرک رباتیک؛ ربات سه پا؛ کنترل مد لغزشی؛ سطح لغزش هیپربولیک دوگانه؛ فیلتر کالمن خنثی | ||
| عنوان مقاله [English] | ||
| Double Hyperbolic Sliding Mode Control Based on Unscented Kalman Filter for Three-legged Mobile manipulator | ||
| نویسندگان [English] | ||
| Seyyed Alireza Ghoreishi؛ Amir Farhad Ehyaei؛ Mehdi Rahmani | ||
| Electrical Engineering Department, Faculty of Technical and Engineering, Imam Khomeini International University, Qazvin, Iran | ||
| چکیده [English] | ||
| In this paper, mathematical and 3D modeling of a three-legged robotic arm capable of moving objects in rough terrain is first presented. Then, considering the noise and environment disturbances, a suitable control method is proposed. Controlling this robot because of its nonlinear dynamics and the presence of disturbances and environmental effects is a very important and complex issue. Therefore, the controller should be able to set the robot in the right position as quickly as possible and eliminate the effect of environmental disturbances and noise on the system response. Accordingly, in this paper, a Double Hyperbolic Sliding Mode Control based on Unscented Kalman Filter is developed for a three-legged mobile manipulator and system stability is proved by Lyapunov theory. In the proposed controller design, while considering the disturbance term in the dynamic model of the system, an Unscented Kalman Filter is used to reduce the noise effect, which improves the robustness of the system under severe conditions. Finally, the performance of the proposed controller is compared with the inverse dynamic controller and the integral sliding mode control on the robotic system. The results show faster operation speed and accuracy in the system response. | ||
| کلیدواژهها [English] | ||
| Mobile Manipulator, Three-legged robot, Sliding Mode Control, Double Hyperbolic Sliding Surface, Unscented Kalman Filter | ||
| مراجع | ||
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