عنوان :
طراحي كنترل كننده چند متغيره موقعيت ربات به روش كنترل لغزشي همراه با كاهش نوسانات ناخواسته
مقطع تحصيلي :
كارشناسي ارشد
محل تحصيل :
اصفهان: دانشگاه صنعتي اصفهان، دانشكده برق و كامپيوتر
صفحه شمار :
ده،96ص.: مصور،جدول،نمودار
يادداشت :
ص.ع.به فارسي و انگليسي
استاد راهنما :
فريد شيخ الاسلام، مريم ذكري
توصيفگر ها :
بازوي ربات , چترينگ , خطاي موقعيت , پايداري لياپانوفي , رديابي مسير
تاريخ نمايه سازي :
6/2/90
استاد داور :
يدالله ذاكري، جواد عسگري
دانشكده :
مهندسي برق و كامپيوتر
چكيده فارسي :
به فارسي و انگليسي: قابل رويت در نسخه ديجيتالي
چكيده انگليسي :
97 Reduced Chatter Robot Manipulator Sliding Control A Novel Multivariable Approach Ali Fattahi ah fattahi@ec iut ac ir Date of Submission 2009 11 21 Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language Farsi Supevisors Farid Sheikholeslam sheikh@cc iut ac ir Maryam Zekri mzekri@cc iut ac ir Advisor Mohammad Danesh danesh@cc iut ac ir Abstract Stability or performance of robot control system can be reduced because of nonlinearity strongly coupled dynamic and modeling uncertainty such as unknown load mass joints inertia and friction parameters In this thesis the problem of robot manipulator control is investigated in the conditions that no specified and accurate dynamic model of the system is available In other words the model has a structured uncertainty for example in the inertia matrix or gravity vector The aim is to propose a control law for robust trajectory tracking of robot manipulator Nonlinear and robust structure of sliding control caused this approach to be an ideal candidate for this application Although appropriate features of sliding approach such as applicability for linear and nonlinear process insensitivity to the parameters variation and external disturbance good transient response and simple implementation are available this approach has some defects For example non ideal sampling and switching may cause high frequency chattering in the system which in turn can excite un modeled high frequency dynamics and degrade the system stability Furthermore the chattering increases controller burden and may easily damage controller parts Tracking error reduction in addition to chattering alleviation is the main concern of this thesis This thesis presents a new control approach based on sliding mode theory for robot manipulator The presented control law includes a multivariable exponential function to eliminate the control signal chattering Through some theorems convergence of the states to the sliding surface and uniform global asymptotic stability of the proposed control system are guaranteed based on Lyapunov stability theorem for non autonomous systems within the proof a new Lyapunov function has been presented The proposed approach decreases the tracking error while improves the system speed response and presents a satisfactory control performance as well Some of the classical methods for control of robot manipulator such as PD plus gravity conventional PID extended PD and conventional sliding mode with saturated function and reaching law are simulated on a 6 degree of freedom PUMA560 robt manipulator and the results have been campared with the new approach The simulations indicated and confirmed the validity and effectiveness of the proposed approach Keywords Chattering Lyapunov stability Multivariable control PUMA 560 Robot manipulator Sliding control Tracking
استاد راهنما :
فريد شيخ الاسلام، مريم ذكري
استاد داور :
يدالله ذاكري، جواد عسگري
