طراحي كنترل‌كننده معكوس تطبيقي براي سيستم‌هاي حركت از راه دور
الموضوعات :
مختار شاصادقی
1
(دانشگاه صنعتی شیراز)
حمیدرضا مؤمنی
2
(دانشگاه تربیت مدرس)
رامین امیری‌فر
3
(دانشگاه تربیت مدرس)
سهیل گنجه‌فر
4
(دانشگاه بوعلی سینا همدان)
الکلمات المفتاحية: پيش‌بين اسميتتأخير زمانيسيستم‌هاي حركت از راه دوركنترل امپدانسكنترل معكوس تطبيقي,
ملخص المقالة :
در اين مقاله، روشي براي كنترل مقاوم سيستم‌هاي حركت از راه دور ارائه مي‌شود. در اين روش، با استفاده از ايده پيش‌بين اسميت، يك كنترل‌كننده امپدانس براي ربات فرمانده و يك كنترل‌كننده معكوس تطبيقي براي ربات فرمانبر به گونه‌اي طراحي مي‌شوند كه تأثير حاصل از تأخير زماني كانال‌هاي مخابراتي بر روي پايداري و كارآيي سيستم حلقه بسته حذف شود. همچنين، شرايطي به منظور حصول پايداري عملي سيستم بر اساس نظریه كنترل مقاوم به دست آورده مي‌شوند. ويژگي‌هاي مطلوب در پاسخ گذراي سيستم نيز با استفاده از روش چندجمله‌اي‌هاي مشخصه استاندارد در طراحي گنجانده مي‌شوند. از مزيت‌هاي روش پيشنهادي مي‌توان به تعديل‌نمودن محدوديت‌هاي حاكم بر پيش‌بين اسميت، عدم ضرورت اطلاع دقيق از مدل سيستم فرمانده و حصول كارآيي سيستم حلقه بسته در تعقيب موقعيت اشاره كرد. همچنين، روش پيشنهادي با روش غيرخطي مود لغزشی مقايسه مي‌شود. نتايج حاصل از شبيه‌سازي نشان مي‌دهند كه روش پيشنهادي از بازدهي خوبي برخوردار است.
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