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RISS 인기검색어
- 검색키워드
- 저자 : Mohamed Fanni (검색결과 2 건)
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Manar Lashin,Mohamed Fanni,Abdelfatah M. Mohamed,Tomoyuki Miyashita 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.1
This paper affords dynamic modeling and control for a new 3D pantograph manipulator. The new manipulatorpossesses pure decoupled translational motions and it is characterized by large workspace to size ratio,high speed, rigidity, and accuracy. Euler-Lagrange first type method is used to get the dynamic model. However,the resulted dynamic model is too complex to be used in model-based control techniques. Therefore, a simplifiednominal plant is proposed. It allows the inverse dynamic solution efficiently. However, an explicit form of thenominal Coriolis and centrifugal matrix cannot be obtained due to the complicated kinematic terms. Consideringthese dynamic characteristics as well as the required robust trajectory tracking performance of the manipulator, anew controller is proposed. The new controller is called inverse optimal PID with Feed-Forward Control which isdesigned in H∞ framework. The new controller has the following merits; robustness, optimality, simple implementation,and efficient execution without the need of explicit forms of dynamic matrices. The extended disturbance inthe proposed controller is smaller than that in the inverse optimal PID control (IPID) and contains one type of errorcontrary to the nonlinear robust motion controller (NRIC). The performance of the proposed controller is comparedwith those of IPID and NRIC controllers for different trajectories and payloads. The dynamic simulation resultsvia co-simulation of MSC-ADAMS R ⃝ and MATLAB R ⃝ /Simulink software prove the robustness of the proposedcontroller against speed/payload variations. The proposed controller is found to have higher performance comparedwith IPID and NRIC controllers. These results assure the feasibility of the 3D pantograph manipulator with theproposed controller for pure translational tracking applications.
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A New Quadrotor Manipulation System: Modeling and Point-to-point Task Space Control
Ahmed Khalifa,Mohamed Fanni 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.3
This article introduces a novel quadrotor manipulation system that consists of 2-link manipulator withunique topology attached to the bottom of a quadrotor. This new system presents a solution for the limitationsfound in the current quadrotor manipulation system. Unlike the current system, the proposed system enables theend effector to achieve an arbitrary position and orientation with minimum possible number of actuators/links. Systemkinematics and dynamics are derived. A new closed form inverse kinematics algorithm is presented such thata task space motion controller can be implemented. To study the feasibility of the proposed system, a quadrotorwith high enough payload, to add the 2-link manipulator, is designed and constructed. The system controller is designedbased on three control techniques: Feedback Linearization based PID (FL-PID), Direct Fuzzy Logic Control(DFLC), and Fuzzy Model Reference Learning Control (FMRLC). Simulation framework is implemented in MATLAB/SIMULINK based on real system parameters to emulate a realistic setup. These controllers are tested underthe effect of picking/placing a payload and changing the operating region. Results enlighten the system feasibility,the superior performance of the FMRLC, and the efficiency of the proposed inverse kinematics algorithm.
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