Commande non linéaire par Backstepping d'un system non linéaire complexe application au bras manipulateur

الموضوعات

علوم تطبيقية وتكنولوجية

الملخص

Nonlinear systems represent a large part of the systems studied in industryamong which we find manipulators robots. It is for this reason that thedevelopment of nonlinear control laws has become very interesting for improvedperformance.In this present work which mainly concerns the Backstepping control of themanipulator robot with 2 degrees of freedom, we are interested in the dynamicmodel of the manipulator robot which expresses the torques exerted by theactuators as a function of the positions of the joints by applying to itBackstepping control laws based on a Lyapunov function for a pursuit of certaindesired trajectories.The Robustness test is carried out in order to have a better appreciation of theresults obtained through the system studied by considering disturbances on oursystem, the results obtained clearly confirm the dynamic performances and therobustness of the control applied for the pursuit of the trajectories

روابط وملفات

التعريف والنوع

رقم الوثيقة

08459205-4dbc-40ef-8682-d85d74b4a88a

رقم العقد

0

نوع الوسائط

Crawler

نوع المحتوى

الرسائل العلمية

صيغة المصدر

ماستر (LMD)

نوع الملف

pdf text

أسماء الملفات

2199731_1.pdf

بيانات النشر

ألقاب المؤلفين

[{"name_ar":"احمد اسامة لعبيد","title_ar":"اعداد","title_en":"Preparation"},{"name_ar":"عاشور بن شعباني","title_ar":"اشراف","title_en":"Supervision"}]

اللغة

French

المصدر والدورية

اسم المصدر

Commande non linéaire par Backstepping d'un system non linéaire complexe application au bras manipulateur

المحتوى والصفحات

عدد الصفحات

0

كلمات الباحثين

Nonlinear systems, dynamic model of the manipulator robot , Backstepping control

إشراف وإعداد

الإشراف

عاشور بن شعباني

الإعداد

احمد اسامة لعبيد

الاقتباسات الببليوغرافية