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Robust and adaptive control with application to mechanical systems

Organized by School of Mechatronic Engineering (UniMAP) & co-organized by The Institution of Engineering Malaysia (IEM), 11th - 13th October 2009 at Batu Feringhi, Penang, Malaysia.

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Bibliographic Details
Main Authors: Partovi, Mahmood, Motakef Imani, Behnam
Format: Working Paper
Language:English
Published: Universiti Malaysia Perlis 2009
Subjects:
Robust control
Adaptive control
Lyapunov stability
H infinity
Robotics
Robust statistics
Control theory
Robots > Design and construction
Online Access:http://dspace.unimap.edu.my/xmlui/handle/123456789/7199
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spelling my.unimap-71992009-11-17T07:12:38Z Robust and adaptive control with application to mechanical systems Partovi, Mahmood Motakef Imani, Behnam Robust control Adaptive control Lyapunov stability H infinity Robotics Robust statistics Control theory Robots -- Design and construction Organized by School of Mechatronic Engineering (UniMAP) & co-organized by The Institution of Engineering Malaysia (IEM), 11th - 13th October 2009 at Batu Feringhi, Penang, Malaysia. In this paper a robot with n degrees of freedom is considered. The dynamical equations can be obtained by the Newton-Euler or the Lagrange method. Many control algorithms exist in the literature. There are robust control algorithms and adaptive control algorithms. In this paper a combination of robust control and adaptive control is proposed. This method gives a better performance than only robust and only adaptive methods. Two robust control methods are studied in this paper: variable structure control and H infinity control. A real time identification is used and the controller is adapted in real time. We have Lyapunov stability or input-output stability under some assumptions. The method can be applied to robotics. The method can also be applied to many other systems for example electrical motors and machine tools. Simulation results are given. This method can be used in automatic production lines. 2009-11-06T03:53:45Z 2009-11-06T03:53:45Z 2009-10-11 Working Paper p.6D 1 - 6D 7 978-967-5415-07-4 http://hdl.handle.net/123456789/7199 en Proceedings of International Conference on Applications and Design in Mechanical Engineering 2009 (iCADME 2009) Universiti Malaysia Perlis
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
Lyapunov stability
H infinity
Robotics
Robust statistics
Control theory
Robots -- Design and construction
spellingShingle Robust control
Adaptive control
Lyapunov stability
H infinity
Robotics
Robust statistics
Control theory
Robots -- Design and construction
Partovi, Mahmood
Motakef Imani, Behnam
Robust and adaptive control with application to mechanical systems
description Organized by School of Mechatronic Engineering (UniMAP) & co-organized by The Institution of Engineering Malaysia (IEM), 11th - 13th October 2009 at Batu Feringhi, Penang, Malaysia.
format Working Paper
author Partovi, Mahmood
Motakef Imani, Behnam
author_facet Partovi, Mahmood
Motakef Imani, Behnam
author_sort Partovi, Mahmood
title Robust and adaptive control with application to mechanical systems
title_short Robust and adaptive control with application to mechanical systems
title_full Robust and adaptive control with application to mechanical systems
title_fullStr Robust and adaptive control with application to mechanical systems
title_full_unstemmed Robust and adaptive control with application to mechanical systems
title_sort robust and adaptive control with application to mechanical systems
publisher Universiti Malaysia Perlis
publishDate 2009
url http://dspace.unimap.edu.my/xmlui/handle/123456789/7199
_version_ 1643788734974394368
score 13.235796

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