Improved state observers and robust controllers for non-linear systems with special emphasis on robotic manipulators and electro-hydraulic servo systems
Mohammadi Asl, Reza (2021-02-26)
Väitöskirja
26.02.2021
Lappeenranta-Lahti University of Technology LUT
Acta Universitatis Lappeenrantaensis
School of Energy Systems
School of Energy Systems, Konetekniikka
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In reference to IEEE copyrighted material which is used with permission in this thesis, the IEEE does not endorse any of Lappeenranta-Lahti University of Technology LUT's products or services. Internal or personal use of this material is permitted. If interested in reprinting/republishing IEEE copyrighted material for advertising or promotional purposes or for creating new collective works for resale or redistribution, please go to http://www.ieee.org/publications_ standards/publications/rights/rights_link.html to learn how to obtain a License from RightsLink.
Julkaisun pysyvä osoite on
http://urn.fi/URN:ISBN:978-952-335-633-7
http://urn.fi/URN:ISBN:978-952-335-633-7
Tiivistelmä
In real world the motion control system are faced with two major problems.: 1) monitoring internal states of the system 2) generating the suitable control signal to reach a desired path and follow it with time. These problems are investigated in this research. The First problem, monitoring the internal states of the system, is tried to be solved by introducing new versions of Kalman filter.The Kalman filter is brought into a form in which it predicts and/or estimates the internal states of the system from the measured data and its mathematical model. The filter tries to estimate the states of the system, and statistics of the noises that affect the system, and measurement.
The second problem is tried to be solved by designing new control methods based on sliding mode control. Two new controllers are developed by introducing new sliding surfaces. Both controllers are designed for n-th order system which make them applicable for different systems.
All methods, which are introduced in this research, are applied into robotic systems and servo-hydraulic systems.
The second problem is tried to be solved by designing new control methods based on sliding mode control. Two new controllers are developed by introducing new sliding surfaces. Both controllers are designed for n-th order system which make them applicable for different systems.
All methods, which are introduced in this research, are applied into robotic systems and servo-hydraulic systems.
Kokoelmat
- Väitöskirjat [859]