DSpace
 

iRepository at Perpustakaan UniMAP >
The Library >
Conference Papers >

Please use this identifier to cite or link to this item: http://dspace.unimap.edu.my:80/xmlui/handle/123456789/19501

Title: Robust and adaptive control of a parallel robot using feedback linearization
Authors: M., Partovi
B., Moetakef Imani
???metadata.dc.contributor.url???: mparto2@gmail.com
Keywords: Robust control;Adaptive control;Feedback linearization;Lyapunov stability;Parallel robot
Issue Date: 27-Feb-2012
Publisher: Universiti Malaysia Perlis (UniMAP)
???metadata.dc.publisher.department???: Pusat Pengajian Kejuruteraan Mekatronik
Series/Report no.: Proceedings of the International Conference on Applications and Design in Mechanical Engineering 2012 (ICADME 2012)
Abstract: In this paper a parallel robot is considered. The dynamical equations of the system are obtained. The dynamical equations of the system are given by three nonlinear and coupled differential equations. If we have a good model the system can be linearized and decoupled by using feedback linearization. In this case the linear methods can be used. A robust and adaptive control method has been proposed. This method gives a better performance than only robust and only adaptive methods. We have a good performance even if the dynamics of the system changes , for example when the mass of the load changes. This method can be used for many dynamical systems. The method is applied to a parallel robot. A good performance is obtained. Simulation results are given.
Description: International Conference on Applications and Design in Mechanical Engineering 2012 (ICADME 2012) organized by School of Mechatronic Engineering, Universiti Malaysia Perlis (UniMAP), 27th - 28th Februari 2012 at Bayview Beach Resort, Penang, Malaysia.
URI: http://hdl.handle.net/123456789/19501
Appears in Collections:Conference Papers

Files in This Item:

File Description SizeFormat
AM13.pdfAccess is limited to UniMAP community441.94 kBAdobe PDFView/Open
View Statistics

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

 

Valid XHTML 1.0! Perpustakaan Tuanku syed Faizuddin Putra, Kampus Pauh Putra, Universiti Malaysia Perlis, 02600, Arau Perlis
TEL: +604-9885420 | FAX: +604-9885405 | EMAIL: rujukan@unimap.edu.my Feedback