مشخصات پژوهش

عنوان	Nonlinear Optimal Controller Design for Three-Degrees of Freedom Robotic Arm
نوع پژوهش	مقاله چاپ‌شده در مجلات علمی
کلیدواژه‌ها	3-degrees of freedom robotic arm, State-dependent Riccati equation (SDRE), Optimal tracking.
چکیده	In this paper, the nonlinear optimal control of 3-degrees of freedom (DOF) articulated robot is investigated, both numerically and experimentally. The dynamical equations of the robot are extracted using the Newton-Euler formulation. The control objective is to design a nonlinear controller such that the end-effector tracks time-varying trajectories. For this purpose, an optimal tracking problem is de fined using a discounted cost function and, then, the state-dependent Riccati equation (SDRE) technique is employed to design an effective controller. Despite the actuator's limitations, both the simulations and experiments show that the closed-loop system based on the designed SDRE controller can successfully track varieties of trajectories such as steps and circle paths.
پژوهشگران	سیروان فرهادی (نفر سوم)، یزدان باتمانی (نفر دوم)، حامد محمدی (نفر اول)