An Online Trajectory Tracking Control of a Double Flexible Joint Manipulator Robot by Considering the Parametric and Non-Parametric Uncertainty
سال انتشار: 1400
نوع سند: مقاله ژورنالی
زبان: انگلیسی
مشاهده: 363
فایل این مقاله در 18 صفحه با فرمت PDF قابل دریافت می باشد
- صدور گواهی نمایه سازی
- من نویسنده این مقاله هستم
استخراج به نرم افزارهای پژوهشی:
شناسه ملی سند علمی:
JR_ADMTL-14-2_009
تاریخ نمایه سازی: 24 مرداد 1400
چکیده مقاله:
Accurate trajectory tracking and control of the Double Flexible Joint Manipulator lead to design a controller with complex features. In this paper, we study two significant strategies based on improving the structure of the hybrid controller and training the controller parameters for an online estimation of time-varying parametric uncertainities. For this purpose, combination of feedback linearization with an adaptive sliding mode control by considering update mechanism is utilized to stabilize the DFJM system. The update mechanism is obtained based on gradient descend method and chain rule of the derivation. Following, in order to eliminate the tedious trial-and-error process of determining the control coefficients, an evolutionary algorithm (NSGA-II) is used to extract the optimal parameters by minimizing the tracking error and control input. In the second step, an online estimation of the designed parameters were proposed based on three intelligent methods; weighting function, Adaptive Neural Network Function Fitting (ANNF), and adaptive Neuro-fuzzy inference system (ANFIS-PSO). The proposed controller reliability finally was examined in condition of the mass and the length of the robot arm was changed and sudden disturbances were imposed at the moment of equilibrium position, simultanously. The results of the tracking error and control input of the trained proposed controller demonstrated minimal energy consumption and shorter stability time in condition that the control parameters are constant and training are not considered.
کلیدواژه ها:
نویسندگان
Alireza Pezhman
Department of Mechanical Engineering, Lahijan Branch,Islamic Azad University, Lahijan, Iran
Javad Rezapour
Department of Mechanical Engineering, Lahijan Branch,Islamic Azad University, Lahijan, Iran
Mohammadjavad Mahmoodabadi
Department of Mechanical Engineering, Sirjan University of Technology, Sirjan, Iran
مراجع و منابع این مقاله:
لیست زیر مراجع و منابع استفاده شده در این مقاله را نمایش می دهد. این مراجع به صورت کاملا ماشینی و بر اساس هوش مصنوعی استخراج شده اند و لذا ممکن است دارای اشکالاتی باشند که به مرور زمان دقت استخراج این محتوا افزایش می یابد. مراجعی که مقالات مربوط به آنها در سیویلیکا نمایه شده و پیدا شده اند، به خود مقاله لینک شده اند :