Robust Performance of Sampled-data Adaptive Control. From Simulation to Experimental Results

نویسندگان

چکیده

برای دانلود رایگان متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Enhancement of Robust Tracking Performance via Switching Supervisory Adaptive Control

When the process is highly uncertain, even linear minimum phase systems must sacrifice desirable feedback control benefits to avoid an excessive ‘cost of feedback’, while preserving the robust stability. In this paper, the problem of supervisory based switching Quantitative Feedback Theory (QFT) control is proposed for the control of highly uncertain plants. According to this strategy, the unce...

متن کامل

Input/output delay approach to robust sampled-data H∞ control

Sampled-data output-feedback H∞ control of linear systems is considered. The only restriction on the sampling and hold is that the distances between the sequel sampling times and holding times are not greater than given bounds.A new approach, which was recently introduced to sampled-data state-feedback stabilization, is developed to the H∞ control. The system is modelled as a continuous-time on...

متن کامل

Robust adaptive control of voltage saturated flexible joint robots with experimental evaluations

This paper is concerned with the problem of design and implementation a robust adaptive control strategy for flexible joint electrically driven robots (FJEDR), while considering to the constraints on the actuator voltage input. The control design procedure is based on function approximation technique, to avoid saturation besides being robust against both structured and unstructured uncertaintie...

متن کامل

Robust Fusion of Irregularly Sampled Data Using Adaptive Normalized Convolution

We present a novel algorithm for image fusion from irregularly sampled data. The method is based on the framework of normalized convolution (NC), in which the local signal is approximated through a projection onto a subspace. The use of polynomial basis functions in this paper makes NC equivalent to a local Taylor series expansion. Unlike the traditional framework, however, the window function ...

متن کامل

Saturated Neural Adaptive Robust Output Feedback Control of Robot Manipulators:An Experimental Comparative Study

In this study, an observer-based tracking controller is proposed and evaluatedexperimentally to solve the trajectory tracking problem of robotic manipulators with the torque saturationin the presence of model uncertainties and external disturbances. In comparison with the state-of-the-artobserver-based controllers in the literature, this paper introduces a saturated observer-based controllerbas...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: Journal of Automation, Mobile Robotics & Intelligent Systems

سال: 2015

ISSN: 1897-8649,2080-2145

DOI: 10.14313/jamris_2-2015/11