روش تقریب توابع برای کنترل تطبیقی مقاوم ربات‌های با مفاصل انعطاف‌پذیر

محورهای موضوعی : آمار

علیرضا ایزد بخش ¹ (استادیار گروه مهندسی برق، واحد گرمسار، دانشگاه آزاد اسلامی، گرمسار، ایران)
اباصلت بداغی ² (دانشیار گروه ریاضی، واحد گرمسار، دانشگاه آزاد اسلامی، گرمسار، ایران)

تاریخ دریافت : 1396/10/25 تاریخ پذیرش : 1398/01/01 تاریخ انتشار : 1398/01/12

کلید واژه: Composite control, Function approximation techniq, Robust adaptive control,

چکیده مقاله :

این مقاله مرتبط با مساله طراحی کنترل کننده تطبیقی مقاوم برای بازوهای ماهر ربات با مفاصل انعطاف پذیر می­باشد. با فرض انعطاف ناچیز در مفاصل ربات، ابتدا معادلات دینامیکی ربات با مفاصل انعطاف پذیر در فرم انحراف تکین بدست می­آید. قانون کنترل متشکل از یک استراتژی کنترل تطبیقی مبتنی بر تکنیک تقریب توابع و یک بخش کنترلی تصحیح کننده می­باشد. بخش اول کنترل کننده به منظور پایدار سازی دینامیک­های کند و بخش دوم به منظور حذف نوسانات در مفاصل بکارگیری می­گردد. آنالیز پایداری از طریق روش مستقیم لیاپانوف صورت می­پذیرد. نتایج شبیه سازی بر روی ربات یک لینکی با مفاصل انعطاف پذیر، حاکی از عملکرد مناسب طرح پیشنهادی می­باشد.

چکیده انگلیسی:

This paper is concerned with the problem of designing a robust adaptive controller for flexible joint robots (FJR). Under the assumption of weak joint elasticity, FJR is firstly modeled and converted into singular perturbation form. The control law consists of a FAT-based adaptive control strategy and a simple correction term. The first term of the controller is used to stability of the slow dynamics, and the second term is used to damp out the elastic oscillations of the joints. The stability analysis is provided according to the Lyapunov direct method. Simulation results on a single-link FJR demonstrate suitable performance of the proposed control schemes.

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