کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
865516 | 909672 | 2009 | 8 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Neuro-Sliding-Mode Control of Flexible-Link Manipulators Based on Singularly Perturbed Model
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی (عمومی)
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: Neuro-Sliding-Mode Control of Flexible-Link Manipulators Based on Singularly Perturbed Model Neuro-Sliding-Mode Control of Flexible-Link Manipulators Based on Singularly Perturbed Model](/preview/png/865516.png)
چکیده انگلیسی
A neuro-sliding-mode control (NSMC) strategy was developed to handle the complex nonlinear dynamics and model uncertainties of flexible-link manipulators. A composite controller was designed based on a singularly perturbed model of flexible-link manipulators when the rigid motion and flexible motion are decoupled. The NSMC is employed to control the slow subsystem to track a desired trajectory with a traditional sliding mode controller to stabilize the fast subsystem which represents the link vibrations. A stability analysis of the flexible modes is also given. Simulations confirm that the NSMC performs better than the traditional sliding-mode control for controlling flexible-link manipulators. The control strategy not only gives good tracking performance for the joint angle, but also effectively suppresses endpoint vibrations. The simulations also show that the control strategy has a strong self-adaptive ability for controlling manipulators with different parameters.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Tsinghua Science & Technology - Volume 14, Issue 4, August 2009, Pages 444-451
Journal: Tsinghua Science & Technology - Volume 14, Issue 4, August 2009, Pages 444-451
نویسندگان
Zhang (å¼ å®), Yang (æ¨åæ), Sun (åå¢å»),