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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

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