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 mparto2@gmail.com |
Keywords: | Robust control Adaptive control Feedback linearization Lyapunov stability Parallel robot |
Issue Date: | 27-Feb-2012 |
Publisher: | Universiti Malaysia Perlis (UniMAP) |
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://dspace.unimap.edu.my/123456789/19501 |
Appears in Collections: | Conference Papers |
Files in This Item:
File | Description | Size | Format | |
---|---|---|---|---|
AM13.pdf | Access is limited to UniMAP community | 441.94 kB | Adobe PDF | View/Open |
Items in UniMAP Library Digital Repository are protected by copyright, with all rights reserved, unless otherwise indicated.