Eksik Eyleyicili Mekanik Sistemlerin Kontrolü
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Fen Bilimleri Enstitüsü
Institute of Science and Technology
Institute of Science and Technology
Özet
Bu çalışmada eksik eyleyicili mekanik sistemlere ilişkin kontrol teknikleri teorik ve uygulamalı olarak ele alınmıştır. İncelenen kontrol teknikleri sırasıyla kısmi geribesleme lineerizasyonu, enerji temelli kontrol ve diğer nonlineer kontrol yöntemleri başlığı altında iki kural temelli bulanık kontrol, kaskad geri adımlamalı kontrol ve sistem indirgemeli nonlineer kontrol algoritmasıdır. Kısmi geribesleme lineerizasyonu ve enerji temelli kontrol algoritmaları, iki ve üç serbestlik dereceli planar robot manipulatörleri, araba çubuk sistemi ve dönel sarkaç üzerinde uygulanmıştır. İki kural temelli bulanık kontrol algoritması iki serbestlik dereceli planar robot manipulatörleri üzerinde, kaskad geriadımlamalı kontrol algoritması eksik eyleyicili deniz aracı üzerinde ve sistem indirgemeli nonlineer kontrol algoritması araba çubuk sistemi üzerinde uygulanmıştır. Ele alınan eksik eyleyicili mekanik sistemlere ilişkin hareket denklemlerinin türetilmesi ekler bölümünde gösterilmiştir.
In this study, control techniques about the underactuated mechanical systems have been investigated theoretically and implemented with several applications. Analyzed control techniques have been presented respectively as partial feedback linearization, energy based control, and under the other nonlinear control methods title the two rule based fuzzy control, cascaded backstepping control and nonlinear control with system reduction. Partial feedback linearization and energy based control algorithms have applied on the planar robot manipulators with two and three degrees of freedom, cart pole system and rotating pendulum. Two rule based fuzzy control have been applied on the planar robot manipulators with two degrees of freedom, cascaded bakstepping control have been applied on the underactuated surface vessel and nonlinear control with system reduction have been applied on the cart pole system. Derivation of the equations of motion of subjected underactuated mechanical systems has been presented in the appendix section.
In this study, control techniques about the underactuated mechanical systems have been investigated theoretically and implemented with several applications. Analyzed control techniques have been presented respectively as partial feedback linearization, energy based control, and under the other nonlinear control methods title the two rule based fuzzy control, cascaded backstepping control and nonlinear control with system reduction. Partial feedback linearization and energy based control algorithms have applied on the planar robot manipulators with two and three degrees of freedom, cart pole system and rotating pendulum. Two rule based fuzzy control have been applied on the planar robot manipulators with two degrees of freedom, cascaded bakstepping control have been applied on the underactuated surface vessel and nonlinear control with system reduction have been applied on the cart pole system. Derivation of the equations of motion of subjected underactuated mechanical systems has been presented in the appendix section.
Açıklama
Tez (Yüksek Lisans) -- İstanbul Teknik Üniversitesi, Fen Bilimleri Enstitüsü, 2011
Thesis (M.Sc.) -- İstanbul Technical University, Institute of Science and Technology, 2011
Thesis (M.Sc.) -- İstanbul Technical University, Institute of Science and Technology, 2011
Konusu
Eksik eyleyicili, kontrol, lineerizasyon, enerji, nonlineeer., Underactuated, control, swing-up, linearization, energy, nonlinear.