From Data to Performance -- System Identification Uncertainty and robust control design
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Robust Sliding Mode Controller for Trajectory Tracking and Attitude Control of a Nonholonomic Spherical Mobile Robot
Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...
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The Networked Control System in modern control widely uses to decrease the implementation cost and increasing the performance. NCS in addition to its advantages is inevitable. Nevertheless they suffer of some limitations and deficiencies. Packet loss is one of the main limitations which affect the control system in different conditions and finally may lead to system instability. For this reason...
متن کاملFractional order robust adaptive intelligent controller design for fractional-order chaotic systems with unknown input delay, uncertainty and external disturbances
In this paper, a fractional-order robust adaptive intelligent controller (FRAIC) is designed for a class of chaotic fractional order systems with uncertainty, external disturbances and unknown time-varying input time delay. The time delay is considered both constant and time varying. Due to changes in the equilibrium point, adaptive control is used to update the system's momentary information a...
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Actuators of robot operate in the joint-space while the end-effect or of robot is controlled in the task-space. Therefore, designing a control system for a robotic system in the task-space requires the jacobian matrix information for transforming joint-space to task-space, which suffers from uncertainties. This paper deals with the robust task-space control of electrically driven robot manipula...
متن کاملModelling and Compensation of uncertain time-delays in networked control systems with plant uncertainty using an Improved RMPC Method
Control systems with digital communication between sensors, controllers and actuators are called as Networked Control Systems (NCSs). In general, NCSs encounter with some problems such as packet dropouts and network induced delays. When plant uncertainty is added to the aforementioned problems, the design of the robust controller that is able to guarantee the stability, becomes more complex. In...
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In this paper, a dual system consisting of two 5 DOF (RRRRR) robot manipulators is considered as a cooperative robotic system used to manipulate a rigid payload on a desired trajectory between two desired initial and end positions/orientations. The forward and inverse kinematic problems are first solved for the dual arm system. Then, dynamics of the system and the relations between forces/momen...
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