چكيده به لاتين
Abstract:
In this research, an optimal sliding mode control (SMC) method is derived from combination of SMC and the state dependent Riccati equation (SDRE) technique and that is applied to a class of nonlinear closed-loop systems. One of the distinguished features of this control method is its robustness towards uncertainty. Due to the lack of optimality in sliding mode control method, in this paper a robust and optimal method is presented by considering the SDRE in sliding surface as three types of: algebraic, normal and integral sliding surfaces. In addition, because of the use of the state-dependent differential Riccati equation (SDDRE) in the sliding surface, optimal sliding mode control method is able to provide a robust finite time controller. The sensitivity of various percentage of uncertainty in the physical structure of the system is studied. In this paper control relationships for general manipulators are provided. The proposed control structure is implemented on Scout robot theoretically and practically using LabVIEW software; and the results are compared by considering the uncertainty in its structure. In comparison with conventional SMC, the proposed structure reduced the required time to reach the sliding surface almost fifty percent. In addition, in this research the control of some robots such as fixed base arm robots, flexible manipulators, Scout mobile robot and cooperative arms were investigated. Moreover, in this thesis image processing technique has been used in order to make feedback of robot’s manipulator motion during the experimental test.
Key words: Optimal sliding mode controller, Cooperative Arms, Integral sliding surfacee, Image Processing
