چكيده به لاتين
Abstract:
In this thesis, the study of finite time feedback linearization method has been investigated. Considering nonlinear dynamical structure of both mobile and fixed platform robots, feedback linearization, has been conducted to linearize the system using Input state and input output linearization. Afterwards, the time dependent cost function has been implemented to apply the finite time constrains using state dependent Riccati equation or matrix Riccati controller. The finite time gain has been found by solving Riccati equation with two different solutions, which ultimately resulted in obtaining the pre¬determined time regulation. One of by the way one of the disadvantages of this method is its sensibility to uncertainties in the dynamic of the system due to dependence of controller to model parameters that is eliminated by implementing the uncertainties into system dynamic using two robust controller methods. In this research also Dynamic Load Caring Capacity (DLCC) of system has been examined by consideration of error constrains, and the results are compared with certain types of closed loop controllers.
Additionally, by extracting the kinematics and dynamics of the studied models, simulation was conducted using Matlab software and These simulations well-illustrate the regulation and path trajectory of all mentioned controllers. Results were analyzed both quantitatively and qualitatively. Finally, to verify the theoricall findings, an experimental practices was applied and compared on a mobile robot, Scout robot.
Keywords: Feedback linearization, Optimal control, Finite time, Robust control, Scout robot
