International Conference on Applications and Design in Mechanical Engineering-ICADME , 2009-10-11

Title : ( Robust and adaptive control with application to mechanical systems )

Authors: Mahmoud Parovi , Behnam Moetakef Imani ,

Citation: BibTeX | EndNote

Abstract

In this paper a robot with n degrees of freedom is considered. The dynamical equations can be obtained by the Newton-Euler or the Lagrange method. Many control algorithms exist in the literature. There are robust control algorithms and adaptive control algorithms. In this paper a combination of robust control and adaptive control is proposed. This method gives a better performance than only robust and only adaptive methods. Two robust control methods are studied in this paper: variable structure control and H infinity control. A real time identification is used and the controller is adapted in real time. We have Lyapunov stability or input-output stability under some assumptions. The method can be applied to robotics. The method can also be applied to many other systems for example electrical motors and machine tools. Simulation results are given. This method can be used in automatic production lines.

Keywords

, Robust control, adaptive control, Lyapunov stability, H infinity, robotics
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@inproceedings{paperid:1012831,
author = {Mahmoud Parovi and Moetakef Imani, Behnam},
title = {Robust and adaptive control with application to mechanical systems},
booktitle = {International Conference on Applications and Design in Mechanical Engineering-ICADME},
year = {2009},
location = {IRAN},
keywords = {Robust control; adaptive control; Lyapunov stability; H infinity; robotics},
}

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%0 Conference Proceedings
%T Robust and adaptive control with application to mechanical systems
%A Mahmoud Parovi
%A Moetakef Imani, Behnam
%J International Conference on Applications and Design in Mechanical Engineering-ICADME
%D 2009

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