کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
8050498 1519352 2017 12 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Regulación Saturada con Ganancia Variable Derivativa de Robots Manipuladores
ترجمه فارسی عنوان
مقررات اشباع شده با مشتقات متغیر دستکاری رباتها
کلمات کلیدی
تنظیم کننده تابع اشباع، دستاوردهای متغیر، دستکاری رباتیک، الگوریتم های کنترل، تنظیم کننده افزایش متغیر، دستکاری رباتیک، الگوریتم کنترل،
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
چکیده انگلیسی
In this paper a family with a large number of hyperbolictype saturated regulators for robot manipulators, was presented. The proposed regulators consider a constant proportional gain while the derivative variable gain is self-tuned according to a function that depends on the position error, speed of motion and a damping factor, in order to modify the velocity of the transient response of the robot. The derivative control with variable gain enables reduced overshots, oscillations and ripple, enabling a smooth arrival to the steady state. The paper also proposes a strict Lyapunov function which enables the demonstration of asymptotic global stability of the closed-loop equation. In order to illustrate the performance and functionality of the proposed family of control schemes, an experimental comparison between seven control schemes was implemented. Five of these control schemes belong to the proposed family while two additional control schemes are well-known strategies such as the proportional-derivative (PD) and hyperbolic tangent (Tanh) control schemes. The experiments were performed by using a three degree-of-freedom, direct-drive robot manipulator.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Revista Iberoamericana de Automática e Informática Industrial RIAI - Volume 14, Issue 4, October–December 2017, Pages 434-445
نویسندگان
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