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Robust and adaptive control of a parallel robot using feedback linearization

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.

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Bibliographic Details
Main Authors: M., Partovi, B., Moetakef Imani
Other Authors: mparto2@gmail.com
Format: Working Paper
Language:English
Published: Universiti Malaysia Perlis (UniMAP) 2012
Subjects:
Robust control
Adaptive control
Feedback linearization
Lyapunov stability
Parallel robot
Online Access:http://dspace.unimap.edu.my/xmlui/handle/123456789/19501
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spelling my.unimap-195012012-05-31T13:40:05Z Robust and adaptive control of a parallel robot using feedback linearization M., Partovi B., Moetakef Imani mparto2@gmail.com Robust control Adaptive control Feedback linearization Lyapunov stability Parallel robot 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. 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. 2012-05-31T13:40:05Z 2012-05-31T13:40:05Z 2012-02-27 Working Paper http://hdl.handle.net/123456789/19501 en Proceedings of the International Conference on Applications and Design in Mechanical Engineering 2012 (ICADME 2012) Universiti Malaysia Perlis (UniMAP) Pusat Pengajian Kejuruteraan Mekatronik
institution Universiti Malaysia Perlis
building UniMAP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Perlis
content_source UniMAP Library Digital Repository
url_provider http://dspace.unimap.edu.my/
language English
topic Robust control
Adaptive control
Feedback linearization
Lyapunov stability
Parallel robot
spellingShingle Robust control
Adaptive control
Feedback linearization
Lyapunov stability
Parallel robot
M., Partovi
B., Moetakef Imani
Robust and adaptive control of a parallel robot using feedback linearization
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.
author2 mparto2@gmail.com
author_facet mparto2@gmail.com
M., Partovi
B., Moetakef Imani
format Working Paper
author M., Partovi
B., Moetakef Imani
author_sort M., Partovi
title Robust and adaptive control of a parallel robot using feedback linearization
title_short Robust and adaptive control of a parallel robot using feedback linearization
title_full Robust and adaptive control of a parallel robot using feedback linearization
title_fullStr Robust and adaptive control of a parallel robot using feedback linearization
title_full_unstemmed Robust and adaptive control of a parallel robot using feedback linearization
title_sort robust and adaptive control of a parallel robot using feedback linearization
publisher Universiti Malaysia Perlis (UniMAP)
publishDate 2012
url http://dspace.unimap.edu.my/xmlui/handle/123456789/19501
_version_ 1643792814491828224
score 13.222552

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