Robust Adaptive Control of Voltage Saturated Flexible Joint Robots with Experimental Evaluations | ||
| AUT Journal of Modeling and Simulation | ||
| مقاله 4، دوره 50، شماره 1، شهریور 2018، صفحه 31-38 اصل مقاله (642.79 K) | ||
| نوع مقاله: Research Article | ||
| شناسه دیجیتال (DOI): 10.22060/miscj.2017.12174.5008 | ||
| نویسنده | ||
| A. Izadbakhsh* | ||
| Department of Electrical Engineering, Garmsar Branch, Islamic Azad University, Garmsar, Iran | ||
| چکیده | ||
| This paper is concerned with the problem of designing and implementing a robust adaptive control strategy for the flexible joint electrically driven robots (FJEDR) while considering the constraints on the actuator voltage input. The control design procedure is based on the 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 obtained using MATLAB/SIMULINK external mode control on a single-link flexible joint electrically driven robot, demonstrate a high performance of the proposed control schemes. | ||
| کلیدواژهها | ||
| Robust Adaptive Control؛ real-time Implementation؛ Actuator saturation؛ Function approximation technique | ||
| مراجع | ||
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