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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)

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Reza Mohammadi Asl_A4.pdf (44.65Mb)
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Mohammadi Asl, Reza
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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Julkaisun pysyvä osoite on
https://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.
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