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Paper Information

Journal:   JOURNAL OF ARTIFICIAL INTELLIGENCE IN ELECTRICAL ENGINEERING   MARCH 2014 , Volume 2 , Number 8; Page(s) 40 To 47.
 
Paper: 

NONLINEAR H∞ CONTROL FOR UNCERTAIN FLEXIBLE JOINT ROBOTS WITH UNSCENTED KALMAN FILTER

 
 
Author(s):  ELSA ROYA, AKBARI MOHAMMAD ESMAEIL
 
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Abstract: 

Todays, use of combination of two or more methods was considered to control of systems. In this paper is presented how to design of a nonlinear H¥ (NL-H¥) controller for flexible joint robot (FJR) based on bounded UKF state estimator. The UKF has more advantages to standard EKF such as low bios and no need to derivations. In this research, based on spong primary model for FJRs, same as rigid robots links position are selected as differential equations variables. Then this model was reformed to NL-H¥ differential equations. The results of simulations demonstrate that mixed of NL-H¥ controller and UKF estimator lead to conventional properties such as stability and good tracking. Also, Simulation results show the efficiency and superiority of the proposed method in compare with EKF.

 
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Click to Cite.
APA: Copy

ELSA, R., & AKBARI, M. (2014). NONLINEAR H∞ CONTROL FOR UNCERTAIN FLEXIBLE JOINT ROBOTS WITH UNSCENTED KALMAN FILTER. JOURNAL OF ARTIFICIAL INTELLIGENCE IN ELECTRICAL ENGINEERING, 2(8), 40-47. https://www.sid.ir/en/journal/ViewPaper.aspx?id=407910



Vancouver: Copy

ELSA ROYA, AKBARI MOHAMMAD ESMAEIL. NONLINEAR H∞ CONTROL FOR UNCERTAIN FLEXIBLE JOINT ROBOTS WITH UNSCENTED KALMAN FILTER. JOURNAL OF ARTIFICIAL INTELLIGENCE IN ELECTRICAL ENGINEERING. 2014 [cited 2021May10];2(8):40-47. Available from: https://www.sid.ir/en/journal/ViewPaper.aspx?id=407910



IEEE: Copy

ELSA, R., AKBARI, M., 2014. NONLINEAR H∞ CONTROL FOR UNCERTAIN FLEXIBLE JOINT ROBOTS WITH UNSCENTED KALMAN FILTER. JOURNAL OF ARTIFICIAL INTELLIGENCE IN ELECTRICAL ENGINEERING, [online] 2(8), pp.40-47. Available: https://www.sid.ir/en/journal/ViewPaper.aspx?id=407910.



 
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