Optimal nonlinear controller design for flexible robot manipulators with adaptive internal model
Yükleniyor...
Dosyalar
Tarih
2007-05
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
INST Engineering Technology-IET
Erişim Hakkı
info:eu-repo/semantics/closedAccess
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
