کنترل عصبی- تطبیقی مقاوم روبات اسکارا سه محوره با وجود نامعینی جرمی

نوع مقاله: مقاله پژوهشی

نویسندگان

1 کارشناس ارشد/دانشگاه آزاد اسلامی واحد نجف آباد

2 استادیار/دانشگاه آزاد اسلامی واحد نجف آباد

3 استادیار/دانشگاه علمی کاربردی

چکیده

در این مقاله هدف طراحی کنترل کننده تطبیقی1- عصبی2 برای یک بازوی مکانیکی SCARA می‌باشد. بازوی مکانیکی مورد نظر یک سیستم غیرخطی می‌باشد که کنترل کننده‌های کلاسیک قادر به کنترل آن نمی‌باشند. ابتدا شرح مختصری از کارهایی که تاکنون بر روی سیستم‌های مشابه انجام شده است ارائه خواهد شد و سپس در ادامه با استفاده از روش اولر- لاگرانژ که مبتنی بر انرژی پتانسیل و جنبشی سیستم می‌باشد، معادلات دینامیکی سیستم محاسبه خواهد شد. طراحی کنترل کننده با ارائه‌ی یک تابع لیاپانف3 مناسب بیان خواهد شد که قوانین تطبیقی و پایداری سیستم حلقه بسته را تضمین خواهد کرد. در سیستم حلقه بسته تمامی سیگنالها محدود بوده و سیگنال خطا4 به صورت مجانبی به سمت صفر میل می‌کند. برای اثبات کارآمدی سیستم کنترل کننده طراحی شده بر روی یک روبات SCARA سه لینکی پیاده سازی خواهد شد که نتایج به دست آمده کارایی کنترل کننده را تضمین می‌کند.

کلیدواژه‌ها


عنوان مقاله [English]

A Robust Neuro_Adaptive Control of Three Link SCARA Robot with Mass Uncertainty

نویسندگان [English]

  • Mansooreh Taslimi 1
  • Abbas Chatraei 2
  • Mojtaba Hosseini 3
1 MSc /Islamic Azad University, Najafabad Branch
2 Assistant Professor/Islamic Azad University, Najafabad Branch
3 Assistant Professor /University of Applied Science and Technology
چکیده [English]

The purpose of this paper is design of a neuro-adaptive controller for SCARA mechanical arm. First, a brief description of the work that has been done on similar systems will be presented and then using the Euler - Lagrange, based on kinetic and potential energy of the system, the dynamical equations of system will be calculated. The proposed controller is used to provide a suitable Lyapunov function, expression and comparative law will guarantee the stability of the closed loop system. All signals in the closed loop system are limited and the error signal tends asymptotically to origin. The control system is designed to demonstrate the efficacy of proposed controller on three links SCARA robot is implemented, the results of the controller performance guarantees.

کلیدواژه‌ها [English]

  • Nonlinear mechanical arms
  • Adaptive control
  • Neural Networks
  • Lyapunov Stability
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