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| Design Error-based Linear Model-free Evaluation Performance Computed Torque Controller
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Full
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Source |
International Journal of Robotics and Automation (IJRA) |
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Table of Contents |
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Volume: 3 Issue: 3 |
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Pages: |
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Publication
Date: June 2012 |
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ISSN
(Online): 2180-1312 |
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Pages |
151 - 166 |
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Author(s) |
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Published
Date |
20-06-2012 |
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Publisher |
CSC
Journals, Kuala Lumpur,
Malaysia |
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ADDITIONAL
INFORMATION |
| Keywords Abstract References Cited by Related Articles Collaborative
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KEYWORDS: Computed Torque Controller, Linear On-line Tuning Method, Gain Updating Factor, Linear Inner Loop Gain, Error-based Tuning Method |
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| Design a nonlinear controller for second order nonlinear uncertain dynamical systems is one of the most important challenging works. This research focuses on the design, implementation and analysis of a model-free linear error-based tuning computed torque controller for highly nonlinear dynamic second order system, in presence of uncertainties. In order to provide high performance nonlinear methodology, computed torque controller is selected. Pure computed torque controller can be used to control of partly known nonlinear dynamic parameters of nonlinear systems. Conversely, pure computed torque controller is used in many applications; it has an important drawback namely; nonlinear equivalent dynamic formulation in uncertain dynamic parameter. In order to solve the uncertain nonlinear dynamic parameters, implement easily and avoid mathematical model base controller, model-free performance/error-based linear methodology with three inputs and one output is applied to pure computed torque controller. The results demonstrate that the error-based linear tuning computed torque controller is a model-based controllers which works well in certain and uncertain system. Pure computed torque controller has difficulty in handling unstructured model uncertainties. To solve this problem applied linear model-free error -based tuning method to computed torque controller for adjusting the linear inner loop gain (K ). Since the linear inner loop gain (K) is adjusted by linear error-based tuning method, it is linear and continuous. In this research new K is obtained by the previous K multiple gain updating factor (á) which is a coefficient varies between half to two. |
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| Farzin Piltan : Colleagues
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| Reza Bayat : Colleagues
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| Farid Aghayari : Colleagues
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| Bamdad Boroomand : Colleagues
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