پديد آورنده :
همايون زاده، محمدرضا
عنوان :
كنترل موقعيت و نيروي سيستم هاي رباتيك مبتني بر تخمين سرعت مفاصل ، نامعيني هاي پارامتري و جريان موتورها
محل تحصيل :
اصفهان:دانشگاه صنعتي، دانشكده مهندسي مكانيك
صفحه شمار :
دوازده، 126ص.:مصور، نمودار
استاد راهنما :
مهدي كشميري
توصيفگر ها :
كنترل وفقي , مشاهده گر سرعت , مشاهده گر جريان , فيلتر تخمين سرعت , سيستم هاي غير خطي , تحليل پايداري , قضيه لياپونوف
تاريخ نمايه سازي :
1394/04/20
استاد داور :
فريد شيخ الاسلام، اميرحسين دوايي مركزي، محمدجعفر صديق،سيمين بهبهاني
كد ايرانداك :
ID767 دكتري
چكيده فارسي :
به فارسي و انگليسي
چكيده انگليسي :
Position Force Control of Robot Manipulators Based on Estimation of Joint Velocities Parametric Uncertainties and Motor Currents Mohamadreza Homayounzade m homayounzade@me iut ac ir Date of Submission 2015 03 11 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree PhD Language FarsiSupervisor Mehdi Keshmiri mehdik@cc iut ac irAbstract This dissertation deals with the problem of position force controller design for robotic systems basedon estimation of joint velocities motor currents and parametric uncertainties To eliminate the need for linkvelocity measurements two approaches are proposed a Filtering techniques b Observer techniques Furthermore a novel observer is designed to estimate the armature currents To deal with the parametric uncertainties a novel adaptive strategy is proposed to estimate the robotuncertain parameters Existing adaptive methods are generally based on the certainty equivalence CE principle The procedure for designing the CE based adaptive controller consists of two steps First designing the deterministic controller assuming there is no uncertainty in system parameters it is calledthe certainty equivalence principle second substituting the actual parameters for their estimated values inthe control law In fact the fundamental concept of the CE based adaptive control systems is to exactly cancel the uncertainparameters However the exact cancellation of uncertain parameters never occurs in real applications Thus the overall performance of the regulating tracking control depends on the performance of theparameter estimator The performance of the parameter estimator is poor since the parameter estimategenerally exhibit wide variations compared to their true values In this dissertation we propose a novel output feedback adaptive method where the unknownparameters converge to the attractive manifold This enables the controlled system to asymptoticallyrecover the transient performance of deterministic control and the performance of the system in parameterestimation The proposed adaptive method is not based on the certainty equivalent principle In theproposed NCEA non certainty equivalent adaptive method the detrimental effect of the uncertainparameters is compensated pursuing a robustness perspective The proposed control method requires thesole measurements of joint positions To deal with the constrained applications of robots the proposed adaptive strategy is extended toposition and force control of robotic systems As well the proposed adaptive strategy is extended to controlthe electrically driven robotic systems without joint velocity and armature current measurements The proposed control method guarantees semiglobal asymptotic motion tracking and velocityestimation as well as L and L 2 bounded parameter estimation error Furthermore it is shown that thesystem is finite gain L 2 stable exposed to external disturbance The effectiveness of the proposed controller is verified mathematically and numerically Keywords Adaptive control Asymptotic stability Filter design Lyapunov theorem Nonlinear systems Observer design Robotic systems Stability analysis
استاد راهنما :
مهدي كشميري
استاد داور :
فريد شيخ الاسلام، اميرحسين دوايي مركزي، محمدجعفر صديق،سيمين بهبهاني
