Optimal nonlinear controller design for flexible robot manipulators with adaptive internal model

M. Dog̃an*, Y. Istefanopulos

*Bu çalışma için yazışmadan sorumlu yazar

Araştırma sonucu: ???type-name???Makalebilirkişi

52 Atıf (Scopus)

Özet

Developing nonlinear adaptive and robust controllers for a two-link flexible robot arm is the main objective of this research. The dynamic state feedback controller is used to achieve robust regulation of the rigid modes as well as suppression of elastic vibrations. However, the control of highly nonlinear multi-link flexible arms is subject to uncertainties caused by backlash, payload changes and external disturbances. Therefore adaptive and robust control of multi-link flexible arms is a challenging problem. The internal model approach is adaptively tuned up for unknown disturbances, parallel with a robust stabiliser. The stabiliser part of the controller is optimised with a new evolutionary algorithm.

Orijinal dilİngilizce
Sayfa (başlangıç-bitiş)770-778
Sayfa sayısı9
DergiIET Control Theory and Applications
Hacim1
Basın numarası3
DOI'lar
Yayın durumuYayınlandı - 2007
Harici olarak yayınlandıEvet

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