کنترل مقاوم مبتنی بر تخمین‌گر زیربهینه برای بازوهای رباتیک به‌شدت غیرخطی تحت تأثیر نامعینی‌های مدل و اغتشاشات محیطی

[1] Nasiri N, Sadjadian H. Voltage-based control of a flexible-joint electrically driven robot using backstepping approach. In 4th Annual International Power Electronics, Drive Systems and Technologies Conference; 2013:541-546 IEEE##.

[2] Izadbakhsh A, Khorashadizadeh S. Single-loop PID controller design for electrical flexible-joint robots. Journal of the Brazilian Society of Mechanical Sciences and Engineering. 2020;42(2):1-12##.

[3] Sira-Ramirez H, Spong MW. Variable structure control of flexible joint manipulators. International Journal of Robotics and Automation. 1988;3(2):57-64##.

[4] Al-Ashoor R, Khorasani K, Patel R, Al-Khalili A. Robust adaptive controller design for flexible joint manipulators. Robotics and Computer-Integrated Manufacturing. 1992;9(2):101-112##.

[5] Cloutier JR, D’Souza CN, Mracek CP. Nonlinear regulation and nonlinear H∞ control via the state-dependent Riccati equation technique: Part 1, theory. Proceedings of the International Conference on Nonlinear Problems in Aviation and Aerospace. 1996: Embry Riddle University##.

[6] Xin M, Balakrishnan S, Huang Z. Robust SDRE based robot manipulator control. Proceeding of IEEE International Conference on Control Applications. 2001:369-374##.

[7] Huang L, Ge S, Lee T. Position/force control of uncertain constrained flexible joint robots. Mechatronics. 2006;16(2):111-120##.

[8] Farooq M, Wang DB. Hybrid force/position control scheme for flexible joint robot with friction between and the end-effector and the environment. International Journal of Engineering Science. 2008;46(12):1266-1278##.

[9] Merabet A, Gu J. Robust nonlinear predictive control with modeling uncertainties and unknown disturbance for single-link flexible joint robot. 2008 7th World Congress on Intelligent Control and Automation; 2008;IEEE:1516-1521##.

[10] Lee J, Yeon JS, Park JH, Lee S. Robust back-stepping control for flexible-joint robot manipulators. 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems. 2007;IEEE:183-188##.

[11] Zahiripour SA. Robust sliding mode controller design for the complete model of an aircraft in the presence of a variety of uncertainties. Journal of Aerospace Mechanics. 2022;18(3):169-180##.

[12] Fateh MM. Nonlinear control of electrical flexible-joint robots. Nonlinear Dynamics. 2012;67(4):2549-2559##.

[13] Fateh MM, Asrari H, Khorashadizadeh S. Adaptive fuzzy sliding mode control of a robotic manipulator in task-space using voltage control strategy. Journal of Solid and Fluid Mechanics. 2015;5(3):17-26##.

[14] Chang Y-C, Yen H-M. Robust tracking control for a class of electrically driven flexible-joint robots without velocity measurements. International Journal of Control. 2012;85(2):194-212##.

[15] Izadbakhsh A, Fateh M. Robust Lyapunov-based control of flexible-joint robots using voltage control strategy. Arabian Journal for Science and Engineering. 2014;39(4):3111-3121##.

[16] Cui M, Wu Z. Trajectory tracking of flexible joint manipulators actuated by DC-motors under random disturbances. Journal of the Franklin Institute. 2019;356(16):9330-9343##.

[17] Kalman RE. A new approach to linear filtering and prediction problems. Journal of basic Engineering. 1960;82(1):35-45##.

[18] Sorenson HW. Least-squares estimation: from Gauss to Kalman. IEEE spectrum. 1970;7(7):63-68##.

[19] Sun Y, Guan L, Chang Z, Li C, Gao Y. Design of a low-cost indoor navigation system for food delivery robot based on multi-sensor information fusion. Sensors. 2019;19(22):4980##.

[20] Luenberger D. An introduction to observers. IEEE Transactions on Automatic Control. 1971;16(6):596-602##.

[21] Çimen T. Systematic and effective design of nonlinear feedback controllers via the state-dependent Riccati equation (SDRE) method. Annual Reviews in Control. 2010;34(1):32-51##.

[22] Jaganath C, Ridley A, Bernstein DS. A SDRE-based asymptotic observer for nonlinear discrete-time systems. Proceedings of the 2005, American Control Conference. 2005;3630-3635: IEEE##.

[23] Hassan MF. Observer-based controller for discrete-time systems: a state dependent Riccati equation approach. Nonlinear Dynamics. 2012;70(1):693-707##.

[24] Beikzadeh H, Taghirad HD. Robust SDRE filter design for nonlinear uncertain systems with an H∞ performance criterion. ISA Transactions. 2012;51(1):146-152##.

[25] Souza L, Gonzales R. Application of the state-dependent Riccati equation and Kalman filter techniques to the design of a satellite control system. Shock and Vibration. 2012;19(5):939-946##.

[26] Alam W, Ahmad S, Mehmood A, Iqbal J. Robust sliding mode control for flexible joint robotic manipulator via disturbance observer. Interdisciplinary Description of Complex Systems: INDECS. 2019;17(1-B):85-97##.

[27] Delpasand M, Farrokhi M. Designing an adaptive fuzzy extended state observer for nonlinear affine systems with external disturbance. Journal of Aerospace Mechanics. 2022;18(2):109-124##.

[28] Nasiri N, Lademakhi NY. Nonlinear combined SMC-SDRE control versus SMC and SDRE approaches for electrical flexible-joint robots based on optimal observer. In 9th RSI International Conference on Robotics and Mechatronics (ICRoM) 2021;568-573: IEEE##.

[29] Eu CN. Numerical Analysis in Nonlinear Least Squares Methods and Applications (Doctoral dissertation, Curtin University). 2017##.

[30] Aberoomand V, Fesharakifard R, Kamal Eigoli A. Torque control of a hybrid actuator in the presence of parametric uncertainties and physical constraints. Modares Mechanical Engineering. 2017;16(12):227-38##.

[31] Li R, Assadian FF. Role of uncertainty in model development and control design for a manufacturing process.  In Production Engineering and Robust Control. 2022##.

[32] Blaabjerg F, editor. Control of Power Electronic Converters and Systems: Volume 2. Academic Press; 2018 Apr 27##.

[33] Nasiri N, Fakharian A, Menhaj MB. Observer-based robust control for flexible-joint robot manipulators: A state-dependent Riccati equation-based approach. Transactions of the Institute of Measurement and Control. 2020;42(16):3135-3155##.

[34] Modirrousta A, Khodabandeh M. Design of an adaptive integral sliding mode control for robust and finite time stabilization for a quadrotor. Tabriz Journal of Electrical Eng. 2016;46(1):321-32##.

[35] Mazare M, Taghizadeh M. Adaptive sliding mode control with uncertainty estimator for a 3-[P-2 (US)] translational parallel robot. Modares Mechanical Engineering. 2017;16(10):181-90##.

[36] Kuo Y-L. Robust chaos synchronizations using an SDRE-based sub-optimal control approach. Nonlinear Dynamics. 2014;76(1):733-742##.

[37] Nasiri N, Fakharian A, Menhaj MB. A novel controller for nonlinear uncertain systems using a combination of SDRE and function approximation technique: Regulation and tracking of flexible-joint manipulators. Journal of the Franklin Institute. 2021;358(10):5185-5212##.