کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

صفحه اصلی / هشتمین کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

Sensor-Fault-Tolerant Controller for a Flexible-link Manipulator with Output Constraint

نویسندگان :

Mona Raoufi¹ Hadi Delavari²

1- دانشگاه اصفهان 2- دانشگاه صنعتی همدان

کلمات کلیدی :

Flexible-Link Manipulator, Barrier Lyapunov Function (BLF), PSO, Sensor Fault Tolerant, Concurrent Learning.

چکیده :

In this paper, a robust control strategy is proposed for a flexible-link manipulator to track the reference signal. The main framework of the controller is based on backstepping. First, a virtual control rule is designed by using a Barrier Lyapunov function such that the output constraint is satisfied. Then, the second tracking error is defined and the input torque is formulated. The control design parameters in each step are optimally tuned by PSO, which is an optimal technique. Furthermore, fault estimation and elimination are set to ensure the desirable reference tracking by adopting the concurrent learning technique. Finally, simulation results are given to verify the efficiency of the proposed controller.

لیست مقالات

لیست مقالات بایگانی شده

Adaptive Control of Spur Gear Systems via Proximal Policy Optimization and Attention-Based Learning

Mohammad Ali Labbaf Khaniki - Marzieh Mirzaeibonehkhater - Amirhossein Samii - Mohammad Manthouri

H∞ Robust Control Design for Three-Element Industrial Boiler Supervisory System

Narges Ahooghalandari - Reza Shadi - Ahmad Fakharian

طراحی کنترل کننده ی PID با بهره ی فازی نوع دو برای دستگاه جوش GMAW خطوط لوله

سعید عبدی - الهام امینی‌بروجنی - مهدی پورقلی

طراحی و ساخت دستگاه جداکننده با استفاده از مکانیزم مرکب و با رویکرد اتوماسیون سازی خطوط تولید

محمدرضا هاشمی - محمدهادی کلائی - علی رجبی

Vascular Age Prediction with PPG-Based LSTM Model

Kiana Pilevar Abrisham - Khalil Alipour - Bahram Tarvirdizaheh - Mohammad Ghamari

Attitude Error Compensation Using Adaptive Extended Kalman Filter for Low-cost GPS/INS

Javad Nayerabadi - Mohsen Mohammadi

Practical and Applied Control Tutorial: Employing Simulink to Master Theoretical Concepts

Mohammad Afkar - Roghayeh Gavagsaz-Ghoachani - Matheepot Phattanasak - Serge Pierfederici

Detection and Isolation of False Data Injection Attack in Load Frequency Controller of Power Systems

Seyed Mahdi Mirhadi - Aliakbar Ahmadi - Abolfazl Nateghi

Adaptive Optimal Control of Chaotic System Using Backstepping Neural Network Concept

Mohammad Sarbaz - MohammadReza Soltanian - Mohammad Manthouri - Iman Zamani

Design and Optimizing of Smart IoT-based Irrigation Systems to Minimize Water Usage and Reduce Agriculture Costs

Amir Taha Farshbaf Fekri - Ata Dibazar - Amir A. Ghavifekr

بیشتر

ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 42.2.8