چكيده به لاتين
Today, flexible robots have many applications in the space industry due to their low weight and high maneuverability. In fact, the high load-to-weight ratio of such robots has made them superior to their rigid counterparts. It has also introduced lower power consumption, smaller actuators, and higher operating speeds of these robots as a suitable choice in space applications. This feature of flexible robots has caused the control of these robots and the elimination of vibration and deviation in them to be considered by many researchers and is of great importance. Nowadays, control with ℒ1 adaptive controller is known for ensuring fast adaptation with optimal transient performance for input and output signals using a low-pass filter with adjustable gain in the feedback loop, and this is the main reason for using this type of controller in this work. . When choosing a filter benefit, the main criterion is to consider the compromise between performance, durability and fast adaptation. In this dissertation, ℒ1 adaptive control theory is used to control and eliminate deviation and vibration in two flexible robots. In this regard, first, the controller design for the Quanser robot is done in linear mode. Next, the design is based on the nonlinear model of the Quanser robot. Finally, the robot is compensated by using an ℒ1 adaptive controller, which uses a state estimator and a parameter matching algorithm based on the image principle. Since the dynamic and kinematic equations of flexible robots are nonlinear, the design of the ℒ1 adaptive controller for the nonlinear model of the system is also designed and analyzed. After simulating the mentioned method on two flexible robots, this method is compared with the adaptive control method of the direct and indirect reference model and it is seen that it has a good performance in transient mode and acceptable reduction of deviation compared to other methods.