مهندسی مکانیک مدرس

مهندسی مکانیک مدرس

یک افزونه به "کنترل مقاوم همکاری چند بازوی انعطاف‌پذیر با استفاده از عملگرهای q-Bernstein-Schurer به عنوان تخمین‌گر عدم قطعیت: رویکرد اختلال تکین"

نوع مقاله : مقاله پژوهشی

نویسندگان
کریم بیات 1
علیرضا ایزدبخش 2
علی جمالی نظری 3
امیرهوشنگ مزینان 1
1 گروه مهندسی برق کنترل، واحد تهران جنوب ، دانشگاه آزاداسلامی ، تهران، ایران
2 گروه مهندسی برق، واحد گرمسار ، دانشگاه آزاد اسلامی ،سمنان، ایران
3 گروه مهندسی پزشکی، واحد شاهرود ، دانشگاه آزاداسلامی , سمنان، ایران
10.48311/mme.2026.117226.82872
چکیده
این مقاله یک کنترل‌کننده تطبیقی مقاوم را برای بازوهای رباتیک همکار با مفاصل الاستیک معرفی می‌کند. نوآوری اصلی این پژوهش در بهره‌گیری از توابع گویای نوع برنشتاین (Bernstein-type rational functions) به عنوان تخمین‌گر عدم قطعیت تجمعی است. بر خلاف روش‌های پیشین که نیازمند ماتریس‌های رگرسور متعدد و حجیم بودند، روش پیشنهادی تنها با استفاده از یک ماتریس وزن‌دهی به عنوان مثال با ابعاد ، بار محاسباتی را به شدت کاهش می‌دهد. نتایج شبیه‌سازی نشان می‌دهد که این ساختار منجر به بهبود قابل توجه در شاخص‌های عملکردی شده است، به طوری که شاخص خطای ISE در روش پیشنهادی( ) در مقایسه با سیستم‌های فازی رایج ( )، بیش از ۱۰۰ برابر بهبود یافته است. علاوه بر این، قوانین تطبیق برای ضرایب این توابع برای نخستین بار از طریق تحلیل پایداری لیاپانوف استخراج شده‌اند که پیش از این در متون ریاضی و مهندسی بدین صورت ارائه نشده بود. پایداری تمامی سیگنال‌ها به صورت یکنواخت نهایتاً محدود (UUB) تضمین شده و صحت عملکرد الگوریتم در حضور تغییرات پارامتری و نویز، از طریق شبیه‌سازی روی دو ربات الاستیک تایید گردیده است
کلیدواژه‌ها
توابع گویای برنشتاین
ربات‌های چندگانه همکار با مفصل انعطاف‌پذیر
تکنیک تقریب تابع
موضوعات

عنوان مقاله English

An Extension to "Robust cooperative multiple flexible-joint arms control using the q-Bernstein-Schurer operators as the uncertainty approximator: A singular perturbation approach"

نویسندگان English

karim bayat 1
alireza izadbakhsh 2
ali jamali 3
amir hooshang mazinan 1
1 Department of Electrical Engineering Control , ST.C., Islamic Azad University, Tehran, Iran
2 Department of Electrical Engineering , Ga. C., Islamic Azad University, Garmsar, Iran
3 Department of biomedical engineering , Sha. C., Islamic Azad University, Shahrood, Iran
چکیده English

Abstract: This paper introduces a robust adaptive controller tailored for collaborative multiple robots and equipped with elastic joints. It utilizes a simple model of manipulator dynamics, treating all other dynamics as lumped uncertainty. The proposed approach integrates Function Approximation Techniques (FAT), specifically Bernstein-type rational functions, to estimate lumped uncertainty. Recent advancements have utilized FAT-based robust adaptive controllers for uncertainty estimation. However, our innovation distinguishes itself from prior research by minimizing the required regressor matrices. This advantage becomes particularly pronounced as the number of manipulators and their degrees of freedom increase. In addition, the coefficients of the Bernstein-type rational functions are adjusted by the adaptation laws derived from stability analysis, which are not presented in the previous literature. To the best of our knowledge, this paper marks the first engineering application of Bernstein-type rational functions for function approximation in adaptive form. Stability analysis guarantees that all error signals remain uniformly ultimately bounded (UUB). The theoretical advancements are validated by employing two elastic joint manipulators to transport a rigid object. The outcomes are also compared with two advanced approximation techniques to show the precision and effectiveness of the proposed controller design. The results exhibit the usefulness of the proposed control scheme, facing uncertainties and disturbances

کلیدواژه‌ها English

Bernstein-type rational functions
Collaborative robots
Elastic joints
Function approximation technique
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مهندسی مکانیک مدرس
دوره 26، شماره 8
مرداد 1405
صفحه 649-663