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| Title: | Robust and adaptive control of a parallel robot using feedback linearization |
| Authors: | M., Partovi
B., Moetakef Imani |
| E-mail: | mparto2@gmail.com |
| Keywords: | Robust control
Adaptive control
Feedback linearization
Lyapunov stability
Parallel robot |
| Issue Date: | 27-Feb-2012 |
| Publisher: | Universiti Malaysia Perlis (UniMAP) |
| 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
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Files in This Item:
| File |
Description |
Size | Format |
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| AM13.pdf | Access is limited to UniMAP community | 441.94 kB | Adobe PDF | View/Open |
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