Robot Motion Control In the Presence of Actuator Delay Using Nonlinear Prediction, M.Sc. Thesis Sharif University of Technology ; Namvar, Mehrzad (Supervisor)
Abstract
Time delay usually exists due to different causes in actuator dynamics of robot manipulator. If this time delay is not considered to compensate, we will encounter with instability or oscillation. In this dissertation, we propose a nonlinear predictor feedback to achieve exponentially convergence in the presence of constant and known delay in actuator dynamics of robot manipulator. It is assumed that the dynamics of robot manipulator is known. Since the robot manipulator system is forward-complete, we don’t have explosive instability in dead time and it stays bounded until the control kicks in t=D. Our approach to stability proof of proposed controller employs PDE form to present the delay in...
Cataloging briefRobot Motion Control In the Presence of Actuator Delay Using Nonlinear Prediction, M.Sc. Thesis Sharif University of Technology ; Namvar, Mehrzad (Supervisor)
Abstract
Time delay usually exists due to different causes in actuator dynamics of robot manipulator. If this time delay is not considered to compensate, we will encounter with instability or oscillation. In this dissertation, we propose a nonlinear predictor feedback to achieve exponentially convergence in the presence of constant and known delay in actuator dynamics of robot manipulator. It is assumed that the dynamics of robot manipulator is known. Since the robot manipulator system is forward-complete, we don’t have explosive instability in dead time and it stays bounded until the control kicks in t=D. Our approach to stability proof of proposed controller employs PDE form to present the delay in...
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