کنترل مد لغزشی سیستم ربات دوچرخ تعادلی در حضور عدم قطعیت‌های ساختاری و غیر ساختاری موجود در معادلات دینامیکی و بدون نیاز به معادلات سینماتیکی
الموضوعات :محمدرضا سلطانپور 1 , رضا غلامي 2
1 - دانشگاه علوم و فنون هوایی شهید ستاری
2 - دانشگاه علوم و فنون هوایی شهید ستاری
الکلمات المفتاحية: ربات دوچرخ تعادلی کنترل مد لغزشیعدم قطعیت‌های ساختاری و غیر ساختاری معادلات سینماتیک,
ملخص المقالة :
در این مقاله، راهکارهایی برای کنترل سیستم ربات دوچرخ تعادلی در حضور عدم قطعیت‌های موجود در معادلات دینامیکی و بدون نیاز به معادلات سینماتیکی پیشنهاد می‌گردد. بدین منظور در ابتدا معادلات دینامیکی این سیستم به حوزه خطا انتقال داده می‌شود و سپس این معادلات به دو زیرسیستم فروتحریک و تمام‌تحریک کاملاً مستقل تقسیم‌بندی می‌گردند. در ادامه برای کنترل زیرسیستم فروتحریک، دو کنترل‌کننده مد لغزشی کاملاً متفاوت ارائه می‌گردد که قادرند این زیرسیستم را در حضور عدم قطعیت‌های ساختاری و غیر ساختاری دارای پایداری مجانبی سراسری نمایند. پس از آن برای کنترل زیرسیستم تمام تحریک نیز کنترل مد لغزشی پیشنهاد می‌شود که این زیرسیستم را در حضور عدم قطعیت‌های موجود دارای پایداری مجانبی سراسری می‌کند. از آنجا که این دو زیرسیستم کاملاً از یکدیگر مستقل می‌باشند، بنابراین اثبات پایداری مجانبی سراسری آنها، اثبات پایداری مجانبی سراسری سیستم حلقه بسته را مهیا می‌سازد. جداسازی زیرسیستم‌های ربات دوچرخ تعادلی، نیاز به استفاده از معادلات سینماتیک را مرتفع نموده و این امر باعث می‌شود تا حضور عدم قطعیت‌های ساختاری تأثیری بر دقت ردگیری متغیرهای حالت سیستم حلقه بسته نداشته باشند. نهایتاً برای بررسی عملکرد کنترل‌کننده‌های پیشنهادی و مقایسه نتایج عملکرد آنها، شبیه‌سازی‌هایی در 3 مرحله بر روی سیستم ربات دوچرخ تعادلی پیاده‌سازی می‌شود. اثبات ریاضی و نتایج شبیه‌سازی‌ها عملکرد مطلوب راهکارهای پیشنهادی را نشان می‌دهند.
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