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Control of Robots in Presence of Delay in Measurements

Bahrami, Somayeh | 2009

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 39978 (05)
  4. University: Sharif University of Technology
  5. Department: Electrical Engineering
  6. Advisor(s): Namvar, Mehrzad
  7. Abstract:
  8. Time-delay in measurement of the outputs is usually one of the important factors creating complexity in design of a robot controller such that ignoring the delay in controller design can cause instability or significant performance degradation in a robotic system. In this thesis, set-point regulation problem as well as the trajectory tracking problem for a rigid robotic manipulator in presence of constant and known delay in measurements have been investigated and in particular, three dynamically smooth controllers have been proposed:
    1-A controller based on the “minimal” dynamic model of a robot manipulator that satisfies sufficient conditions in the form of Linear Matrix inequalities (LMIs) for ensuring“local and asymptotic convergence of the regulation error” to zero. This controller is in the form of a state feedback controller that uses delayed measurement signals and its gains are computed by numerical solution of LMIs.
    2-A controller based on the “nonminimal” dynamic model of a rigid robot manipulator that satisfies sufficient conditions in the form of Linear Matrix inequalities for ensuring “global and asymptotic convergence of the motion tracking error” to zero. The controller gain is computed by numerical solution of LMIs.
    3-A controller based on the “nonminimal” dynamic model of a rigid robot manipulator that satisfies sufficient conditions in the form of Linear Matrix inequalities for ensuring “ultimate boundedness of the motion tracking error”.
    The stability analysis for each one of proposed controllers has been provided by using Lyapunov-Krasovskii functionals. Simulation examples have been presented for each one of proposed controllers by using a 2-DOF plannar robot manipulator. Simulation results illustrate remarkable improvement in performance of a delayed robotic system using the proposed controllers in comparison with standard controllers. The maximum amount of delay that preserves system stability is computed by solving an LMI optimization and also by numerical simulations. Comparison of this upper bounds for delay can be as a measure of LMIs conservatism.
  9. Keywords:
  10. Time Delay ; Locomotion Control ; Remote Control ; Linear Matrix Inequality (LMI) ; Robot ; Lyapunov-Krasovskii Function ; Robot Nonminimal Model

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