پديد آورنده :
صادقي، مرتضي
عنوان :
كنترل سيستمهاي غيرهولونوميك در حضور اغتشاشات منطبق و غيرمنطبق
مقطع تحصيلي :
كارشناسي ارشد
محل تحصيل :
اصفهان : دانشگاه صنعتي اصفهان
صفحه شمار :
ده، 138ص.: مصور (رنگي)، جدول، نمودار
توصيفگر ها :
كنترل سيستم هاي غيرهولونوميك , كنترل توزيع شده , كنترل تطبيقي ابرپيچشي , سيستم هاي چند عاملي , اغتشاش منطبق و غيرمنطبق
استاد داور :
محسن مجيري، فريد شيخالاسلام
تاريخ ورود اطلاعات :
1399/07/02
دانشكده :
مهندسي برق و كامپيوتر
تاريخ ويرايش اطلاعات :
1399/07/02
چكيده انگليسي :
control of nonholonomic systems in the presence of matched and unmatched disturbances Morteza Sadeghi morteza sadeghi@ec iut ac ir August 1 2020 Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan 84156 83111 IranDegree Master of Science Language FarsiSupervisor Maryam Zekri Assoc Prof mzekri@iut ac ir AbstractNonholonomic systems are widely used in robotics military and civilian industries such as the control systemof autonomous underwater vehicles and wheeled mobile robot controllers These robots have nonlinear mod eling with nonholonomic pfaffian constraints and because their degree of freedom is greater than the numberof system inputs controlling them is a challenging task in nonlinear control theory Also due to the practicalapplication of these systems in real environments the presence of external disturbances cannot be ignored andthe effect of matched disturbances through the input channel or the unmatched ones should be considered This study aims to control a disturbed third order chained form nonholonomic system by both matched andunmatched disturbances and achieve consensus for a multiple of them To this end first a nonlinear controlleris proposed using sinusoidal functions backstepping and classical sliding mode control for closed loop controlof a third order chained form nonholonomic system with matched and unmatched disturbances Then the clas sic sliding mode control is replaced by an adaptive super twisting control to obtain an improved controller withreduced control input oscillation and output chattering In the following the proposed controllers generalizeto distributed controllers for multi agent nonholonomic systems with matched and unmatched disturbances bymodeling the communication network between nonholonomic systems as a connected and undirected graph under the virtual leader following framework The effectiveness of the proposed controllers is illustrated withnumerical simulation regulation and tracking control of a wheeled mobile robot and consensus control formultiple wheeled mobile robots in the presence of external disturbances The simulation results showed theefficiency of the proposed methods Keywordsnonliniear control nonholonomic systems distributed control adaptive super twisting control multi agent sys tems matched and unmatched disturbance
استاد داور :
محسن مجيري، فريد شيخالاسلام