Ekstremum Arama Temelli Hata Tahmini ile Esnek Bağlantılı Robot Kolunun Çıkış Geri Besleme Kontrolü

Bu çalışmada, ekstremum arama hata tahmini ve ekstremum arama temelli çıkış geri besleme kontrolcüsü doğrusal olmayan esnek-bağlantılı robot kolu için önerilmiştir. İlk olarak, doğrusal olmayan sistemin yaklaşık modeli kullanılarak izleme hatasını minimize etmek için çıkış geribesleme ile ekstremum arama denetleyicisi tasarlanmıştır. Daha sonra hataların, bozucu etkilerin ve bilinmeyen dinamiklerin etkisini yok etmek için ekstremum arama hata tahminleyicisi tasarlanmıştır. Önerilen hata tahminleyici temelli kontrolün avantajını göstermek için bilinmeyen yüke sahip esnek-bağlantılı robot kolu benzetim ortamında ve gerçek zamanlı olarak kontrol edilmiştir. Benzetim ortamında yapay bir yük uygulanmıştır. Fakat gerçek-zamanlı deneyde, esnek bağlantılı robot kolu çalışmaya devam ederken üzerine ek yük bağlanmıştır. Esnek-bağlantılı robot kolunun yaklaşık modeli ise durum uzayı tanılama ile elde edilmiştir. Sonuç olarak önerilen tahminleyici ve kontrolör yöntemi ile gelecek uygulamalar içinde kabul edilebilir izleme ve tahmin sonuçları hem benzetim ortamında hem de gerçek-zamanlı deneylerde elde edilmiştir.

EXTREMUM SEEKING BASED FAULT ESTIMATION FOR OUTPUT FEEDBACK CONTROL OF FLEXIBLE-JOINT ROBOT MANIPULATOR

In this paper, an extremum seeking fault estimation based output feedback controller is proposed for the control of flexible-joint robot manipulator. First, using the approximate nonlinear robot model, a extremum seeking controller is designed to minimize the tracking error via output feedback. Then, in order to prevent the effects of faults, disturbances or unknown dynamics, an extremum seeking based fault estimator is proposed. In order to show that the advantage of the proposed configuration, a flexible-joint manipulator with unknown fault is controlled both in a numerical simulation and real-time experiment. An artificial payload is applied to the end-effector in a simulation environment. But, in the real-time experiment, an additional payload attached to the end effector when it is continuing the process. The approximate model of the robot manipulator is obtained by the state-space identification. As a result using the proposed estimation and controller, acceptable tracking and estimation results are obtained both in numerical and real-time experiments for future applications.

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