کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
7110229 | 1460668 | 2018 | 8 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Tracking control of uncertain time delay systems: An ADRC approach
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موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی هوافضا
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: Tracking control of uncertain time delay systems: An ADRC approach Tracking control of uncertain time delay systems: An ADRC approach](/preview/png/7110229.png)
چکیده انگلیسی
This article deals with the control of a class of robotic systems with constant input time delay through the Active Disturbance Rejection paradigm, by means of Generalized Proportional Integral observers. The system is represented as a linear perturbed system, whose lumped disturbance input is estimated and then compensated by an Extended State Observer-Based Control, which is implemented on a predictor scheme for the time delay compensation. A complete Lyapunov Krasovskii functional was used to perform the stability analysis, leading to an ultimate bound trajectory tracking error. The proposal is tested and validated on a two degrees of freedom robotic manipulator.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Control Engineering Practice - Volume 78, September 2018, Pages 97-104
Journal: Control Engineering Practice - Volume 78, September 2018, Pages 97-104
نویسندگان
L.A. Castañeda, A. Luviano-Juárez, G. Ochoa-Ortega, I. Chairez,