طراحی کنترل‌کننده مد ‌لغزشی برای کنترل بازوی رباتیک ‌ماهر غیر‌خطی با ‌در‌ نظر گرفتن اشباع ‌عملگرها

نوع مقاله : مقاله پژوهشی

نویسندگان

1 دانشجوی کارشناسی ارشد، گروه مهندسی برق، دانشکده مهندسی، دانشگاه گلستان، گرگان، ایران

2 استادیار، گروه مهندسی برق، دانشکده مهندسی، دانشگاه گلستان، گرگان، ایران

چکیده

در این مقاله یک طرح کنترلی مد ‌لغزشی مبتنی بر شبکه عصبی برای کنترل بازوی رباتیک ماهر با در نظر گرفتن اشباع عملگر و در حضور اغتشاش‌های خارجی پیشنهاد می‌گردد. در رهیافت کنترلی پیشنهادی از شبکه‌ عصبی چبیشف نوع دوم برای جبران اثرات مخرب اشباع ‌عملگر بهره گرفته شده است. سیستم حلقه بسته با استفاده از کنترل‌کننده پیشنهادی دارای قابلیت همگرایی ‌سریع، خطای ردیابی ‌کوچک، تقاوم و عملکرد مناسب در حضور اشباع عملگر و اغتشاش‌های‌ خارجی است. وزن‌های شبکه عصبی با بهره‌گیری از تئوری لیاپانوف استخراج شده و پایداری سیستم به اثبات رسانده می‌شود. عملکرد کنترل‌کننده پیشنهادی با سایر کنترل‌کننده‌ها مورد قیاس قرار گرفته و کارایی آن در سناریوهای مختلف به ازای مسیرهای مختلف و حضور اغتشاش‌های خارجی مورد ارزیابی قرار می‌گیرد.

کلیدواژه‌ها

موضوعات

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