نتایج جستجو برای: robust adaptive control

تعداد نتایج: 1656935  

A. Bodaghi, A. R. Izadbakhsh

This paper is concerned with the problem of designing a robust adaptive controller for flexible joint robots (FJR). Under the assumption of weak joint elasticity, FJR is firstly modeled and converted into singular perturbation form. The control law consists of a FAT-based adaptive control strategy and a simple correction term. The first term of the controller is used to stability of the slow dy...

Journal: :Journal of Mathematical Analysis and Applications 1989

Journal: :Siam Journal on Control and Optimization 2021

We propose a continuous-time version of the adaptive robust methodology introduced in T. R. Bielecki et al. [SIAM J. Control Optim., 57 (2019), pp. 925--946]. An agent solves stochastic control p...

2008
Jen-Shi Chen Jyh-Ching Juang

In this paper, the tracking problem for robot manipulators in the presence of unknown friction and modeling uncertainties is considered. A composite tracking control scheme is proposed in which an adaptive friction estimation is used to estimate the extent of friction and a robust controller is then designed to enhance the overall stability and robustness. It is shown that the design of the fri...

Journal: :Science and Technology Development Journal 2009

Journal: :IFAC Proceedings Volumes 2005

ژورنال: کنترل 2020

In this paper, the coordinated control problem of a tractor-trailer and a combine harvester is taken into account in the presence of model uncertainties by using the leader-following approach to track a reference trajectory for the first time. At first, a second-order leader-follower dynamic model is developed in Euler-Lagrange form which preserves all structural properties of the dynamic model...

Journal: :مکانیک سازه ها و شاره ها 0
محمد مهدی فاتح استاد کنترل، دانشکده مهندسی برق و رباتیک، دانشگاه شاهرود، شاهرود مجید عابدین زاده شهری کارشناس ارشد رباتیک،دانشکده مهندسی برق، دانشگاه شاهرود، شاهرود

a mobile manipulator robot is known as a complex system due to some properties such as coupling between the manipulator and mobile chassis, holonomic and nonholonomic constraints, multivariable and nonlinear dynamics. the control of robot faces the external disturbance, parametric uncertainty and unmodeled dynamics. therefore, the use of an adaptive fuzzy system is suggested for its capability ...

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