دوره 13، شماره 3 - ( مجله کنترل، جلد 13، شماره 3، پاییز 1398 )                   جلد 13 شماره 3,1398 صفحات 51-70 | برگشت به فهرست نسخه ها

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Hadi Barhaghtalab M, Meigoli V, Ghaffari V. ANFIS+PID Hybrid Controller Design for Controlling of a 6-DOF Robot Manipulator and its Error Convergence Analysis. JoC. 2019; 13 (3) :51-70
URL: http://joc.kntu.ac.ir/article-1-524-fa.html
هادی برحق طلب مجتبی، میگلی وحید، غفاری ولی اله. طراحی یک کنترل کننده ترکیبی ANFIS+PID برای کنترل بازوی ربات شش درجه آزادی و تحلیل همگرایی خطای آن. مجله کنترل. 1398; 13 (3) :51-70

URL: http://joc.kntu.ac.ir/article-1-524-fa.html


1- دانشکده مهندسی، گروه برق، دانشگاه خلیج فارس بوشهر
2- سی، گروه برق، دانشگاه خلیج فارس بوشهر
چکیده:   (745 مشاهده)
در این مقاله یک کنترل کننده ترکیبیِ ANFIS+PID برای کنترل یک بازوی ربات شش درجه آزادی طراحی شده و همگرایی خطای آن نیز مورد بررسی قرار گرفته است. از جمله مزایای این ترکیب جدید نسبت به ساختار ANFIS معمول، قابلیت فرموله کردن و تخمین عدم قطعیت ها و اغتشاشات سیستم به همراه دینامیک های سیستم و حذف آن می باشد. بعلاوه با این ترکیب جدید می توانیم همگرایی به صفر خطایِ سیستم بازوی ربات تحت کنترل پیشنهادی را بررسی کرده و به اثبات برسانیم، که در ساختار ANFIS معمولی این امکان وجود ندارد. این کنترل کننده پیشنهادی از ترکیب موازی یک شبکه ANFIS معمولی با یک کنترل کننده خطیِ PID بوجود آمده و بطور موفقیت آمیزی برای کنترل یک سیستم بازوی ربات شش درجه آزادی بکار برده می شود. هم چنین با استفاده از قضیه شبه لیاپانوف (لم باربالات)، همگرایی به صفر خطایِ سیستم تحت کنترل، با وجود عدم قطعیت ها و اغتشاشات خارجی سیستم به اثبات می رسد.
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نوع مطالعه: پژوهشي | موضوع مقاله: تخصصي
دریافت: ۱۳۹۶/۶/۳۱ | پذیرش: ۱۳۹۷/۵/۲

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