تحلیل پایداری نمایی سیستم‌های کنترل از راه دور خطی گسسته با نمونه‌برداری غیر یکنواخت
الموضوعات :امير امين‌زاده قوي‌فکر 1 , امیر ریخته‌گر غیاثی 2 , محمدعلی بادامچی‌زاده 3 , فرزاد هاشم‌زاده 4
1 - دانشگاه تبریز
2 - دانشگاه تبریز
3 - دانشگاه تبریز
4 - دانشگاه تبریز
الکلمات المفتاحية: سیستم کنترل از راه دور ربات پایه و پیرو سیستم کنترل شبکه‌ای پایداری نمونه‌برداری معادلات LMI,
ملخص المقالة :
کنترل از راه دور سیستم‌ها در فرایندهایی که دسترسی به نیروی کار انسانی با دشواری همراه بوده، همواره مورد توجه قرار گرفته است. در این مقاله سیستم‌های کنترل از راه دور به صورت گونه خاصی از سیستم‌های شبکه‌ای که شامل سیستم نمونه‌بردار غیر یکنواخت به همراه تأخیر می‌باشد مدل‌سازی شده و از توابع تأخیری کاهشی برای نشان‌دادن معادلات سیستم بهره گرفته شده است. ربات‌های پایه و پیرو را به صورت سیستم‌های خطی پیوسته با زمان در نظر گرفته و از روش تأخیر در ورودی برای آنالیز پایداری استفاده گردیده است. به کمک تابع لیاپانف پیشنهادی، شرایط کافی جهت پایداری نمایی سیستم کنترل از راه دور با ساختار گسسته و شبکه‌ای، معرفی گردیده و مشاهده خواهد شد که این شرایط در مقایسه با کارهای قبلی حالات محافظه‌کارانه کمتری دارند. همچنین به دنبال محاسبه کران بالایی برای بازه نمونه‌برداری سیگنال‌های کنترلی واردشده بر ربات‌های پایه و پیرو خواهیم بود به گونه‌ای که خللی در پایداری نمایی سیستم وارد ننماید. به این منظور شرایط پایداری به دست آمده را به صورت یک مسئله بهینه‌سازی محدب و در قالب معادلات LMI تبدیل خواهیم کرد. در قسمت شبیه‌سازی نیز رفتار یک سیستم کنترل از راه دور، تحت نمونه‌برداری غیر یکنواخت نشان داده شده و نقش زمان نمونه‌برداری در مصالحه بین پایداری و شفافیت بررسی گردیده است.
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