دوره 15، شماره 1 - ( مجله کنترل، جلد 15، شماره 1، بهار 1400 )                   جلد 15 شماره 1,1400 صفحات 93-112 | برگشت به فهرست نسخه ها

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1- دانشکده مهندسی برق، واحد نجف آباد، دانشگاه آزاد اسلامی
چکیده:   (605 مشاهده)
در این مقاله، مسأله کنترل ردیابی مسیرهای زمانی مرجع برای گروهی از ربات­ های متحرک چرخ ­دار غیرهولونومیک تراکتور- تریلر بر مبنای روش پیشرو-پیرو، در حضور اغتشاشات خارجی و نامعینی ­های پارامتری مورد بررسی قرار گرفته است. برای این منظور، ابتدا معادلات سینماتیک و دینامیک صف­ آرایی ربات تراکتور- تریلر ارائه و با تعریف بردار خطای حالات، مدل آرایش پیشرو-پیرو تولید شده است. سپس، با استفاه از مدل دینامیک آرایش­ بندی، یک رؤیتگر اغتشاش غیرخطی جهت تخمین و جبران اغتشاشات خارجی طراحی شده و  مدلی جدید از سیستم به­ دست آمده است. در ادامه، با در نظر گرفتن مدل مبتنی بر رؤیتگر، یک کنترل­ کننده سطح دینامیکی زمان­ محدود طراحی و پیشنهاد شده است. طرح  پیشنهادی کران­داری سیگنال ­های حلقه ­بسته و همگرایی سریع خطای ردیابی در زمان محدود را تضمین می­ کند. به ­علاوه، با بهره ­گیری از یک تخمین ­زن فازی تطبیقی، نامعینی­ های پارامتری با دقت بسیار خوبی تخمین زده می­ شود. در پایان، پایداری زمان­ محدود سیستم کنترل حلقه­ بسته از طریق تئوری لیاپانوف تعمیم­ یافته اثبات شده و میزان اثربخشی الگوریتم پیشنهادی از طریق شبیه­ سازی ­ها نشان داده می­ شود.
متن کامل [PDF 1502 kb]   (13 دریافت)    
نوع مطالعه: پژوهشي | موضوع مقاله: تخصصي
دریافت: 1399/3/13 | پذیرش: 1399/10/7 | انتشار الکترونیک پیش از انتشار نهایی: 1399/12/9 | انتشار: 1400/3/1

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