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

Yükleniyor...
Küçük Resim

Tarih

2007-05

Dergi Başlığı

Dergi ISSN

Cilt Başlığı

Yayıncı

INST Engineering Technology-IET

Erişim Hakkı

info:eu-repo/semantics/closedAccess

Araştırma projeleri

Organizasyon Birimleri

Dergi sayısı

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.

Açıklama

Anahtar Kelimeler

Arm, Output regulation, Optimization, Algorithms, Control theory, Robot applications, Vibrations (mechanical), Nonlinear controller design, Payload changes, Robot manipulators, Robust controllers, Nonlinear control systems

Kaynak

IET Control Theory And Applications

WoS Q Değeri

Q2

Scopus Q Değeri

Q1

Cilt

1

Sayı

3

Künye

Doğan, M. & İstefanopulos, Y. (2007). Optimal nonlinear controller design for flexible robot manipulators with adaptive internal model. IET Control Theory And Applications, 1(3), 770-778. doi:10.1049/iet-cta:20040272