Optimal nonlinear control of two-link flexible arm with adaptive internal model
Yükleniyor...
Dosyalar
Tarih
2005
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
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.In this paper, the internal model approach is adaptively tuned up for unknown disturbances, parallel with a robust stabilizer. The stabilizer part of the controller is optimized with a new evolutionary algorithm.
Açıklama
Anahtar Kelimeler
Optimal control, Programmable control, Adaptive control, Feedback, Arm, Robust control, Finite element methods, Friction, Displacement control, Torque control, Backlash, External disturbances, Flexible arms, Optimal nonlinear control, Adaptive control systems, Evolutionary algorithms, Problem solving, Robustness (control systems), Uncertain systems, Nonlinear control systems
Kaynak
Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
WoS Q Değeri
N/A
Scopus Q Değeri
N/A
Cilt
2005
Sayı
Künye
Doğan, M. & Istefanopulos, Y. (2005). Optimal nonlinear control of two-link flexible arm with adaptive internal model. Paper presented at the 771-776. doi:10.1109/CDC.2005.1582250
