کنترل عصبی مقاوم تطبیقی زمان‌محدود ربات متحرک چرخ‌دار تراکتور- تریلر با استفاده از تکنیک خطی‌سازی فیدبک ورودی- خروجی

محورهای موضوعی : انرژی های تجدیدپذیر

ملیحه کاظمی پور ¹ (دانشکده مهندسی برق- واحد نجف آباد، دانشگاه آزاد اسلامی، نجف آباد، ایران)
خوشنام شجاعی ² (مرکز تحقیقات پردازش دیجیتال و بینایی ماشین- واحد نجف‌آباد، دانشگاه آزاد اسلامی، نجف‌آباد، ایران)

تاریخ دریافت : 1398/09/13 تاریخ پذیرش : 1399/04/01 تاریخ انتشار : 1399/05/01

کلید واژه: ربات متحرک تراکتور- تریلر, قیود غیرهولونومیک, کنترل عصبی مقاوم تطبیقی, خطی سازی فیدبک, کنترل زمان-محدود,

چکیده مقاله :

مسئله ردیابی مسیرهای زمانی مرجع یکی از مسائل مهم و مورد توجه در زمینه کنترل ربات های متحرک چرخ دار به شمار می رود. در این مقاله، مسئله کنترل ردیابی مسیر زمانی مرجع در حضور نامعینی های ساختاری، قیود غیرهولونومیک و اغتشاشات خارجی برای ربات متحرک چرخ‌دار تراکتور-تریلر، تا حد قابل توجهی حل شده است. طرح پیشنهادی بر این اساس است که ابتدا معادلات فضای حالت تراکتور-تریلر از معادلات دینامیک و سینماتیک آن استخراج و به یک فرم همبسته بیان شده است. در ادامه، با در نظرگرفتن معادلاتفضای حالت سیستم، الگوریتم کنترلی مورد نظر متشکل از دو حلقه کنترلی خارجی و داخلی ارائه شده است، به این ترتیب که ابتدا با انجام خطی سازی فیدبک ورودی-خروجی، قانون کنترل در حلقه داخلی به فرم فیدبک غیرخطی تولید شده است که این الگوریتم به طور پیوسته، حذف دینامیک های غیرخطی سیستم را بر عهده دارد. سپس، با استفاده از ترکیب خروجی تولید شده در مرحله خطی سازی با الگوریتم کنترلی مد لغزشی ترمینال و طراحی یک کنترل کننده عصبی مقاوم تطبیقی زمان محدود در حلقه خارجی، عملکرد صحیح و سریع سیستم حلقه بسته در حضور نامعینی ها تضمین شده‌ است. الگوریتم کنترلی پیشنهادی درنهایت، کران داری سیگنال های حلقه بسته و همگرایی دقیق خطای ردیابی در زمان محدود را تضمین نموده است. در پایان، میزان اثربخشی طرح پیشنهادی، از طریق تئوری لیاپانوف تعمیم یافته و شبیه سازی با استفاده از نرم‌افزار متلب اثبات و ارائه شده است.

چکیده انگلیسی:

The reference trajectory tracking is one of the most important issues in the field of tractor-trailer wheeled mobile robots control. In this paper, thetrajectory tracking control issues of a tractor-trailer wheeled mob­ile robot has been significantly solved in the presence of structural uncertainties,non-hol­o­­n­o­mic constraints and external disturbance. The proposed scheme is based on a design that the tractor-trailer’s state space representation is extracted from its dynamic and ki­n­­e­matic models and presented ina companion format first. In the following,by considering the state space representation of system, the control algorithm is presented includingtwo external and internal control loops. Toward this end, the control law has been developed in the inner loop via input-output feedback linearization in a nonlinear feedback formwh­i­­ch is continuously eliminating the nonlinear dynamics of the system. Then,by using a comb­ination of the output that is pr­o­duced in linearization steps with a terminal sliding mode control algorithm and sketching a neural robust ad­aptive finite time controller in the outer loop, the accurate and fast performance of the closed loop system has been guar­a­nteed in the presence of uncertainties. The proposed control algorithmfinally guarantees the boundedness of closed-loop signals and accurate finite time convergence of tracking errors. At the end, the effectiveness of the proposed sch­eme has been demo­nstrated and shown through the extended Lyapunov theorem and simulated by MATLAB application.

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