A Novel Control Design for Rigid-Link Electrically-Driven Robot Manipulator Using RISE Feedback and Bees Algorithm
Publish Year: 1394
نوع سند: مقاله ژورنالی
زبان: English
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شناسه ملی سند علمی:
JR_JKBEI-1-1_003
تاریخ نمایه سازی: 17 شهریور 1395
Abstract:
In this paper, a Robust Integral of the Sign Error (RISE) feedback controller is designed for a Rigid-Link Electrically Driven (RLED) robot manipulator actuated by direct current DC motor in presence of parametric uncertainties and additive disturbances. RISE feedback with implicitly learning capability is a continuous control method based on the Lyapunov stability analysis to compensate an additive bounded disturbance and linear in the parametric (LP) and non-linear in parametric (non-LP) uncertain dynamics through the use of a sufficiently large gain multiplied by an integral signum term. A proper selection of controller gains in predefined permitted areas for gains leads to reducing convergence time, control effort and improving performance. The Bees Algorithm that is a search procedure inspired by the foraging behavior of honey bees is used to tune the parameters of the controller to achieve the convergence. Simulation results of a two Rigid-Link Electrically-Driven Robot Manipulator verify performance of the designed controller.
Keywords:
Robust Integral of the Sign Error (RISE) feedback , Rigid-Link Electrically Driven (RLED) , Uncertainty , Bees Algorithm
Authors
Behnaz Hadi
Department of Control Engineering, Noshirvani University of Technology, Babol, Iran
Alireza Khosravi
Department of Control Engineering, Noshirvani University of Technology, Babol, Iran
Abolfazl Ranjbar
Department of Control Engineering, Noshirvani University of Technology, Babol, Iran
Pouria Sarhadi
Department of Control Engineering, Noshirvani University of Technology, Babol, Iran