没有模型的自适应任务空间滑动模式控制Delta机器人的机器人使用一个新的达法
Alireza Fateh1, Hamidreza Momeni1
1Tarbiat Modares University, Jalal Ale Ahmad, Nasr, 14115111, Tehran, Iran.
ISA transactions
|April 5, 2024
概括
这项研究引入了对Delta机器人的新型自适应滑动模式控制,增强了稳定性和过载保护. 没有模型的方法可以确保在没有先前的系统知识的情况下,对不确定性的强大性能.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统工程 控制系统工程
- 机械电子学是什么意思 机械电子学
背景情况:
- 达尔塔机器人广泛用于高速自动化,但容易受到不确定性和过载的影响.
- 现有的控制方法往往需要精确的模型,或者可能导致控制信号的聊天.
- 适应性控制策略在动态机器人系统中提供了强大的性能潜力.
研究的目的:
- 为Delta机器人开发一种无模型的自适应滑动模式控制 (SMC).
- 引入一项新的触及法,减少增益保守主义,增强过载保护.
- 为了实现对系统不确定性的强有力的控制,而无需事先了解边界函数.
主要方法:
- 提出了一个无模型的自适应滑动模式控制 (SMC) 策略.
- 一个新的达法是为了使用Lyapunov定理设计的对象稳定性.
- 带有新适应规则的梯度下降算法估计了Delta机器人的反向雅可比矩阵.
- 分析模型用于控制规律的推导,稳定性分析和模拟.
主要成果:
- 拟议的控制系统有效地处理不确定性,而不需要边界函数知识.
- 达到时间的自适应性调整导致了顺的融合和声减弱.
- 使用新型适应规则的梯度下降算法成功估计了反向雅可比矩阵.
- 模拟结果证实,与现有方法相比,拟议的达到法具有更高的性能.
结论:
- 开发的无模型自适应式SMC为Delta机器人提供了强大而稳定的控制.
- 新的法律有效地减轻了喋喋不休,并防止过载.
- 这种方法在传统的基于模型和自适应的控制技术上表现出显著的优势.
相关概念视频
01:21Linear Approximation in Time Domain
81
Nonlinear systems often require sophisticated approaches for accurate modeling and analysis, with state-space representation being particularly effective. This method is especially useful for systems where variables and parameters vary with time or operating conditions, such as in a simple pendulum or a translational mechanical system with nonlinear springs.
For a simple pendulum with a mass evenly distributed along its length and the center of mass located at half the pendulum's length,...
For a simple pendulum with a mass evenly distributed along its length and the center of mass located at half the pendulum's length,...
81
01:30Three-Dimensional Force System:Problem Solving
666
A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
666
01:24One-Degree-of-Freedom System
488
In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
488
01:29Two-Dimensional Force System: Problem Solving
571
Solving problems related to two-dimensional force systems is an essential aspect of mechanics and engineering. By applying the principles of vector analysis and force equilibrium, one can determine the effect of multiple forces acting on an object in a two-dimensional space.
The first step to solving a two-dimensional force system problem is to draw a free-body diagram of the object under consideration. This diagram helps identify all the external forces acting on the object, including their...
The first step to solving a two-dimensional force system problem is to draw a free-body diagram of the object under consideration. This diagram helps identify all the external forces acting on the object, including their...
571
01:29Relative Motion Analysis using Rotating Axes-Problem Solving
402
Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
Here, in order to determine the magnitude of velocity and acceleration for point...
402
01:07Time-Domain Interpretation of PD Control
105
Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
Consider the example of control of motor torque. Initially, a positive...
Consider the example of control of motor torque. Initially, a positive...
105