Robust adaptive controller Design for an autonomous robot with time-varying dynamics

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Abstract

Applications of autonomous robots in engineering systems are growing today. Control of an autonomous robot is one of the main problems in this field. Parameters of this type of systems are variable and lead to a time-varying dynamics. A time-invariant controller due to the actual conditions and varying parameters of the system will not result in appropriate responses. On the other hand, real system dynamics is subjected to unpredictable uncertainties and disturbances due to environmental conditions. Therefore, utilized control algorithms should be robust against these effects. In this paper modeling and model-based robust adaptive control of an autonomous robot have been considered. Control of an autonomous system due to the large sensitivity and system specific conditions should be accomplished using particular control algorithms. These conditions have been analyzed for this system. Sliding mode control with system parameters identification as an appropriate control algorithm which contains such conditions has been designed and employed for the control of the system with time-varing parameters. Therefore, first system dynamic model has been obtained. Next, robust adaptive control algorithm has been designed and applied to the system. Obtained results show the effectiveness of the proposed method

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References

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Journal of Solid and Fluid Mechanics
Volume 7, Issue 4
January 2018
Pages 147-158

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