h∞ tracking control of input delayed robotic manipulators

Ngày tải lên: 13/02/2014, 08:20

... Thu Ha, Nguyen Thi Chinh, Nguyen Doan Phuoc The sliding mode control is one of the robust control theories to suppress the effect of bounded noises or disturbances in systems In addition, the ... designing an adaptive robust tracking controller for gearing transmission systems, in which the unpredictable elasticity of cogwheels and the imprecise description of backlash between cogwheels ... the following controller is used with d (x , t ) being bounded by a number   , that is d (x , t )   for all x ,t (6) Robust and Adaptive Tracking Controller 3.1 Sliding mode controller Let...

Ngày tải lên: 21/07/2015, 14:34

... The control signal input is shown in Fig Figs 10~15 show the simulation results of the tracking angle of the BLDC motor control system using the PID controller with two cases: unbounded control ... Figure State θ of observer and state θ of plant Figure Tracking error of system using discrete time optimal controller State State 0.5 25 of  plant  of observer  ˆ  20 -0.5 Control signal ... control signal V 11 10 Output Reference input 6 [deg] Tracking error Reference input and output [deg] 10 0 0.05 0.1 0.15 Time [sec] Figure Reference input and output of system using optimal controller...

Ngày tải lên: 05/08/2015, 13:57

... detectors are sent to the tracking controller A CCTV system was implemented for remote monitoring of the tracking system The DC power output was connected to the charge controller, which tracks ... FOR SUN TRACKING CONTROL The set s is the collection of all gains F ∈ R such that the resultant closed-loop system is stable; the set collection of all gains F ∈ R such that the poles of the resultant ... sun tracking system using fuzzy control Energy Conversion and Management 2005; 46:1229–1245 10 Choi JS, Kim DY, Park KT, Cho CH, Chung DH Design of fuzzy controller based on PC for solar tracking...

Ngày tải lên: 26/11/2015, 09:21

... Space Control control force is then transformed into joint space by: Γtask = J T Ftask (2.16) Since the task space controller need not make use of all DOF of redundant robots, the remaining DOF of ... error of joint (4s) 50 3.15 Tracking error of joint (40s) 51 3.16 Tracking error of joint (40s) 51 3.17 Tracking error of joint ... question of how a reasonably good model of any robot can be obtained for advanced control purpose This is of critical importance since much research on advanced control for robotic manipulators...

Ngày tải lên: 11/09/2015, 10:02

... the Control of Robotic Manipulators Ngoo May Jin (B.Eng.(Hons), M.Sc.) A THESIS SUBMITTED FOR THE DEGREE OF MASTER OF ENGINEERING DEPARTMENT OF MECHANICAL ENGINEERING NATIONAL UNIVERSITY OF SINGAPORE ... the control of uncertain systems The first approach is that of adaptive control, and the second approach is that of robust control [Zhou 1998] For the adaptive control approach, the designed controller ... perfect knowledge of the robot’s dynamic model The main contribution of this dissertation is the application of the nonlinear state feedback controller for the control of a two-link robotic manipulator...

Ngày tải lên: 26/11/2015, 22:57

... requirements of tracking accuracy and controller stability, so that the best performances of these two types of controllers can be compared In order to check the impact of the approximation power of these ... controller for robotic manipulators with an observer Investigations are necessary to further improve the performance of the proposed NN-based adaptive tracking controller APPENDIX The Proof of ... output feedback control of robot manipulators, ” IEEE Trans on Robotics and Automation, vol 15, no 2, pp 301–309, 1999 [20] D S Bayard and J T Wen, “New class of control laws for robotic manipulators, ”...

Ngày tải lên: 27/06/2014, 18:20

... − y z w , ♦♦♦ 410 C Proofs of Some Properties of the Dynamic Model Proof of Property 4.3.3 The proof of inequality (4.10) follows invoking Theorem A.3 Since the vector of gravitational torques ... the function f (˜ ) is globally positive definite q ♦ C Proofs of Some Properties of the Dynamic Model Proof of Property 4.1.3 The proof of the inequality (4.2) follows straightforward invoking ... corresponds to the inequality stated in (4.2) ♦♦♦ 408 C Proofs of Some Properties of the Dynamic Model Proof of Property 4.2.6 To carry out the proof of inequality (4.5) we start by considering (4.4)...

Ngày tải lên: 09/08/2014, 07:20

... Cristian Secchi ž Stefano Stramigioli ž Cesare Fantuzzi Control of Interactive Robotic Interfaces A Port-Hamiltonian Approach With 86 Figures Professor Bruno Siciliano, Dipartimento di Informatica ... siciliano@unina.it Professor Oussama Khatib, Robotics Laboratory, Department of Computer Science, Stanford University, Stanford, CA 94305-9010, USA, email: khatib@cs.stanford.edu Professor Frans Groen, ... Library of Congress Control Number: 2006937681 This work is subject to copyright All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation,...

Ngày tải lên: 10/08/2014, 01:22

Ngày tải lên: 10/08/2014, 01:22

Ngày tải lên: 10/08/2014, 01:22

Ngày tải lên: 10/08/2014, 01:22