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Saturated Neural Adaptive Robust Output Feedback Control of Robot Manipulators: An Experimental Comparative Study | ||
| AUT Journal of Modeling and Simulation | ||
| مقالات آماده انتشار، پذیرفته شده ، انتشار آنلاین از تاریخ 09 اسفند 1395 | ||
| نوع مقاله: Research Paper | ||
| شناسه دیجیتال (DOI): 10.22060/miscj.2017.12177.5010 | ||
| نویسندگان | ||
Mohammad Pourrahim1؛ Khoshnam Shojaei  2؛ Abbas Chatraei1؛ Omid Shah Nazari1
| ||
| 1Department of Electrical Engineering, Najafabad Branch, Islamic Azad University | ||
| 2Department of Electrical Engineering, Najafabad Branch, Islamic Azad University | ||
| چکیده | ||
| In this research, an extension of the output feedback tracking controller is proposed and evaluated experimentally for the trajectory tracking of robot manipulators with input saturation. Compared with the output feedback controllers, a radial basis function saturated observer-based controller has been introduced. This technique helps the controller produce feasible control signals for the actuators. As a result, it effectively reduces the risk of the actuators saturation and consequently a better transient response is obtained. Semi-global uniform ultimate boundedness stability of the tracking errors and state estimation errors is guaranteed by Lyapunov stability analysis. Experimental results illustrate the efficiency of the proposed control system. | ||
| کلیدواژه ها | ||
| Actuator saturation؛ Adaptive robust control؛ Output feedback؛ RBF Neural Networks؛ Robot manipulators | ||
| عنوان مقاله [English] | ||
| Saturated Neural Adaptive Robust Output Feedback Control of Robot Manipulators: An Experimental Comparative Study | ||
| نویسندگان [English] | ||
| Mohammad Pourrahim1؛ Khoshnam Shojaei2؛ Abbas Chatraei1؛ Omid Shah Nazari1 | ||
| 1Department of Electrical Engineering, Najafabad Branch, Islamic Azad University | ||
| 2Department of Electrical Engineering, Najafabad Branch, Islamic Azad University | ||
| چکیده [English] | ||
| In this research, an extension of the output feedback tracking controller is proposed and evaluated experimentally for the trajectory tracking of robot manipulators with input saturation. Compared with the output feedback controllers, a radial basis function saturated observer-based controller has been introduced. This technique helps the controller produce feasible control signals for the actuators. As a result, it effectively reduces the risk of the actuators saturation and consequently a better transient response is obtained. Semi-global uniform ultimate boundedness stability of the tracking errors and state estimation errors is guaranteed by Lyapunov stability analysis. Experimental results illustrate the efficiency of the proposed control system. | ||
| کلیدواژه ها [English] | ||
| Actuator saturation, Adaptive robust control, Output feedback, RBF Neural Networks, Robot manipulators | ||
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آمار تعداد مشاهده مقاله: 314 |
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