تعداد نشریات | 43 |
تعداد شمارهها | 1,272 |
تعداد مقالات | 15,720 |
تعداد مشاهده مقاله | 51,822,072 |
تعداد دریافت فایل اصل مقاله | 14,663,091 |
طراحی کنترلکننده ردیاب مقاوم تطبیقی برای سیستمهای ساندویچ مکانیکی مقید به تابع اشباع ساندویچ شده | ||
مهندسی مکانیک دانشگاه تبریز | ||
مقاله 3، دوره 51، شماره 1 - شماره پیاپی 94، اردیبهشت 1400، صفحه 19-28 اصل مقاله (483.21 K) | ||
نوع مقاله: مقاله پژوهشی | ||
شناسه دیجیتال (DOI): 10.22034/jmeut.2021.11089 | ||
نویسندگان | ||
میثم اژدری1؛ طاهره بینازاده* 2 | ||
1دانشجوی کارشناسی ارشد، گروه مهندسی برق، دانشگاه صنعتی شیراز، شیراز، ایران | ||
2دانشیار، گروه مهندسی برق، دانشگاه صنعتی شیراز، شیراز، ایران | ||
چکیده | ||
در این مقاله مسئله ردیابی مقاوم تطبیقی برای سیستمهای ساندویچ با تابع غیرخطی ناهموار اشباع در حضور عدم قطعیتها و اغتشاشهای خارجی حل شده است. سیستمهای ساندویچ دستهای از سیستمهای غیرخطی میباشند که توابع غیرخطی ناهموار بین زیرسیستمهای مجزای آنها ساندویچ شدهاند. مقاله حاضر، سیستمهای ساندویچ شامل دو زیرسیستم غیرخطی با تابع غیرخطی اشباع واقع شده بین زیرسیستمها را مورد مطالعه قرار میدهد. به خاطر ویژگیهایی همچون عدم معکوسپذیری و ناهمواری تابع اشباع، همچنین وجود ضرایب نامعلوم و اغتشاشهای خارجی، تحلیل و فرآیند طراحی سیستمهای مذکور با پیچیدگیهایی مواجه میباشد. در این مقاله، یک کنترلکننده مقاوم تطبیقی با استفاده از رویکرد کنترلی پسگام و ترکیب آن با تابع Nussbaum بر اساس نظریهی لیاپانوف، برای دستیابی به اهداف کنترلی پیشنهاد شده است. به منظور تایید دستاوردهای نظری و همچنین کارایی روش پیشنهاد شده، روش مطرح شده به یک سیستم مکانیکی شامل یک بازوی نگهدارنده تک لینکی که توسط یک موتور DC راهاندازی میشود، اعمال میگردد. نتایج شبیهسازی عملکرد مؤثر رویکرد پیشنهادی را در ردیابی سیگنال مرجع متغیر با زمان در حضور جملات نامعلوم، اغتشاشهای خارجی و تابع اشباع ساندویچ شده بین زیر سیستمها نشان میدهد. | ||
کلیدواژهها | ||
ربات تک لینک؛ سیستمهای ساندویچ؛ موتور DC؛ تابع غیرخطی اشباع؛ رویکرد پسگام؛ ردیابی تطبیقی مقاوم | ||
مراجع | ||
[1] Saberi A., Stoorvogel A. A., and Sannuti P., Internal and external stabilization of linear systems with constraints. Springer Science & Business Media, 2012. [2] Taware A., and Tao G., Control of sandwich nonlinear systems. Springer Science & Business Media, 2003. [3] Zhou Q., Shi P., Tian Y., and Wang M., Approximation-Based Adaptive Tracking Control for MIMO Nonlinear Systems with Input Saturation. IEEE Transactions on Cybernetics, Vol. 45, No.10, pp. 2119-2128, 2015. [4] Zhang Z., and Xie X.-J., Asymptotic Tracking Control of Uncertain Nonlinear Systems with Unknown Actuator Nonlinearity and Unknown Gain Signs. International Journal of Control, Vol. 87, No.11, pp. 2294-2311, 2014. [5] Nordin M., and Gutman P. O., Controlling Mechanical Systems with Backlash—A Survey. Automatica, Vol. 38, No.10, pp. 1633-1649, 2002. [6] Tan Y., Dong R., and Li R., Recursive Identification of Sandwich Systems with Dead Zone and Application. IEEE Transactions on Control Systems Technology, vol. 17, No.4, pp. 945-951, 2009. [7] Taware A., Control of sandwich nonlinear systems. University of Virginia, 2001. [8] Zhou Z., Tan Y., Xie Y., and Dong R., Soft Measurement of States of Sandwich System with Dead Zone and Its Application. Measurement, Vol. 78, pp. 219-234, 2016. [9] Li Y., Tong S., and Li T., Hybrid Fuzzy Adaptive Output Feedback Control Design for Uncertain MIMO Nonlinear Systems with Time-Varying Delays and Input Saturation. IEEE Transactions on Fuzzy Systems, Vol. 24, No.4, pp. 841-853, 2016. [10] He W., Dong Y., and Sun C., Adaptive Neural Impedance Control of A Robotic Manipulator with Input Saturation. IEEE Transactions on Systems, Man, and Cybernetics: Systems, Vol. 46, No.3, pp. 334-344, 2016. [11] Jafari E., and Binazadeh T., Modified Composite Nonlinear Feedback Control for Output Tracking of Nonstep Signals in Singular Systems with Actuator Saturation. International Journal of Robust and Nonlinear Control, Vol. 28, No.16, pp. 4885-4899, 2018. [12] Mohammadpour S., and Binazadeh T., Robust Adaptive Synchronization of Chaotic Systems with Nonsymmetric Input Saturation Constraints. Journal of Computational and Nonlinear Dynamics, Vol. 13, No.1, p. 011005, 2018. [13] Chen T., Zhu M., and Zheng Z., Asymmetric Error-Constrained Path-Following Control of A Stratospheric Airship with Disturbances and Actuator Saturation. Mechanical Systems and Signal Processing, Vol. 119, pp. 501-522, 2019. [14] Taware A., Tao G., and Teolis C., Design and Analysis of A Hybrid Control Scheme for Sandwich Nonsmooth Nonlinear Systems. IEEE Transactions on Automatic Control, Vol. 47, No.1, pp. 145-150, 2002. [15] Liu Y. J., and Tong S., Adaptive NN Tracking Control of Uncertain Nonlinear Discrete-Time Systems with Nonaffine Dead-Zone Input. IEEE Transactions on Cybernetics, Vol. 45, No.3, pp. 497-505, 2015. [16] Wen C., Zhou J., Liu Z., and Su H., Robust Adaptive Control of Uncertain Nonlinear Systems in the Presence of Input Saturation and External Disturbance. IEEE Transactions on Automatic Control, Vol. 56, No.7, pp. 1672-1678, 2011. [17] Edalati L., Sedigh A. K., Shooredeli M. A., and Moarefianpour A., Asymptotic Tracking Control of Strict-Feedback Nonlinear Systems with Output Constraints in the Presence of Input Saturation. IET Control Theory & Applications, Vol. 12, No.6, pp. 778-785, 2018. [18] Taware A., and Tao G., Analysis and control of sandwich systems. In Proceedings of the 38th IEEE Conference on Decision and Control, Vol. 2, pp. 1156-1161, 1999. [19] Wang X., Stoorvogel A. A., Saberi A., Grip H. F., Roy S., and Sannuti P., Stabilization of a Class of Sandwich Systems Via State Feedback. IEEE Transactions on Automatic Control, Vol. 55, No.9, pp. 2156-2160, 2010. [20] Wang X., Stoorvogel A. A., Saberi A., Grip H. F., and Sannuti P., Stabilization of Nonlinear Sandwich Systems via State Feedback—Discrete‐Time Systems. International Journal of Robust and Nonlinear Control, Vol. 21, No.16, pp. 1841-1864, 2011. [21] Zhou Z., Tan Y., Xie Y., and Dong R., State Estimation of A Compound Non-Smooth Sandwich System with Backlash and Dead Zone. Mechanical Systems and Signal Processing, Vol. 83, pp. 439-449, 2017. [22] Stoorvogel A. A., Wang X., Saberi A., and Sannuti P., Stabilization of sandwich nonlinear systems with low-and-high gain feedback design. In American Control Conference (ACC), pp. 4217-4222, 2010. [23] Grip H. F., Saberi A., Stoorvogel A. A., Wang X., and Roy S., Semiglobal stabilization of sandwich systems by dynamic output feedback. In American Control Conference (ACC), pp. 4229-4234, 2010. [24] Luo N., Tan Y., and Dong R., Observability and Controllability Analysis for Sandwich Systems with Dead-Zone. International Journal of Control, Automation and Systems, Vol. 14, No.1, pp. 188-197, 2016. [25] Zhao X., and Tan Y., Neural adaptive control of dynamic sandwich systems with hysteresis. In Computer Aided Control System Design, IEEE International Conference on Control Applications, IEEE International Symposium on Intelligent Control, pp. 82-87, 2006. [26] Parlangeli G., and Corradini M. L., Variable structure control of systems with sandwiched backlash. In Intelligent Control, Proceedings of the 2005 IEEE International Symposium on, Mediterrean Conference on Control and Automation, pp. 1331-1336, 2005. [27] Corradini M. L., Manni A., and Parlangeli G., Variable structure control of nonlinear uncertain sandwich systems with nonsmooth nonlinearities. In Decision and Control, 46th IEEE Conference, pp. 2023-2028, 2007. [28] Song J., Zuo Z., and Ding Z., Backstepping Control of Sandwich-Like NonLinear Systems with Dead Zone Nonlinearity. IET Control Theory & Applications, Vol. 11, No.17, pp. 3122-3129, 2017. [29] Nussbaum R. D., Some Remarks on A Conjecture in Parameter Adaptive Control. Systems & control letters, Vol. 3, No.5, pp. 243-246, 1983. [30] Zheng Y., Wen C., and Li Z., Robust Adaptive Asymptotic Tracking Control of Uncertain Nonlinear Systems Subject to Nonsmooth Actuator Nonlinearities. International Journal of Adaptive Control and Signal Processing, Vol. 27, No.1-2, pp. 108-121, 2013. [31] Ma J., Zheng Z., and Li P., Adaptive Dynamic Surface Control of A Class of Nonlinear Systems with Unknown Direction Control Gains and Input Saturation. IEEE Transactions on Cybernetics, Vol. 45, No.4, pp. 728-741, 2014. [32] Wang H., Chen B., Liu X., Liu K., and Lin C., Adaptive Neural Tracking Control for Stochastic Nonlinear Strict-Feedback Systems with Unknown Input Saturation. Information Sciences, Vol. 269, pp. 300-315, 2014. [33] Wang W., Xie B., Zuo Z., and Fan H., Adaptive Backstepping Control of Uncertain Gear Transmission Servosystems With Asymmetric Dead-Zone Nonlinearity. IEEE Transactions on Industrial Electronics, Vol. 66, No.5, pp. 3752-3762, 2018. [34] Yang Z., and Zhang H., A Fuzzy Adaptive Tracking Control for A Class of Uncertain Strick-Feedback Nonlinear Systems with Dead-Zone Input. Neurocomputing, Vol. 272, pp. 130-135, 2018. [35] Shiravani F., and Shafiei M. H., Robust Output Regulation Via Sliding Mode Control and Disturbance Observer: Application in a Forced Van Der Pol Chaotic Oscillator. Journal of Dynamic Systems, Measurement, and Control, Vol.139, No.9, pp. 091015, 2017.
[36] Shiravani F., and Shafiei M.H., Robust Output Regulation of a Class of Nonlinear Systems Via Disturbance Observer in the Presence of Matched and Unmatched Uncertainties. Journal of Dynamic Systems, Measurement, and Control, Vol. 141, No.9, pp. 091007, 2019.
[37] Chenarani H., and Binazadeh T., Flexible Structure Control of Unmatched Uncertain Nonlinear Systems Via Passivity-Based Sliding Mode Technique. Iranian Journal of Science and Technology, Transactions of Electrical Engineering, Vol. 41, No.1, pp. 1-11. 2017.
[38] Hakimi A.R., and Binazadeh T., Generation of Stable Oscillations in Uncertain Nonlinear Systems with Matched and Unmatched Uncertainties. International Journal of Control, Vol. 92, No.1, pp. 163-174, 2019.
[39] Tang ZL., Ge SS., Tee KP., He W., Robust Adaptive Neural Tracking Control for A Class of Perturbed Uncertain Nonlinear Systems with State Constraints. IEEE Transactions on Systems, Man, and Cybernetics: Systems, Vol. 46, No.12, pp. 1618-29, 2016. [40] Corradini ML., Manni A., Parlangeli G., Variable structure control of nonlinear uncertain sandwich systems with non-smooth nonlinearities. In 46th IEEE Conference on Decision and Control, pp. 2023-2028, 2007. | ||
آمار تعداد مشاهده مقاله: 296 تعداد دریافت فایل اصل مقاله: 274 |