OPT OpenIR  > 光电跟踪与测量技术研究室
Research on control algorithm of flexible manipulator based on PD-Type distributed parameter boundary control
Su, Yunhao1; Liang, Yanbing2
2020-06
会议名称2020 International Conference on Artificial Intelligence and Electromechanical Automation, AIEA 2020
会议录名称Proceedings - International Conference on Artificial Intelligence and Electromechanical Automation, AIEA 2020
页码508-511
会议日期2020-06-26
会议地点Tianjin, China
出版者Institute of Electrical and Electronics Engineers Inc.
产权排序1
摘要In this paper, the Hamilton method is used to establish a distributed parameter model for a single-link flexible robotic arm based on the form of partial differential equations. The distributed parameter system is used to control the model. The boundary control method is used to add a boundary control input to the end boundary of the manipulator. The PD boundary controller is designed, and the distributed parameter boundary control based on the exponential convergence method is performed on the end boundary of the manipulator to adjust the vibration of the robotic arm. The Lyapunov function is designed to prove the stability of the system through calculation. © 2020 IEEE.
关键词flexible manipulator distributed parameter boundary control exponential convergence method
作者部门光电跟踪与测量技术研究室
DOI10.1109/AIEA51086.2020.00114
收录类别EI
ISBN号9781728182889
语种英语
EI入藏号20204609480816
引用统计
文献类型会议论文
条目标识符http://ir.opt.ac.cn/handle/181661/93811
专题光电跟踪与测量技术研究室
作者单位1.Xi'An Institute of Optics and Precision Mechanics of CAS, University of Chinese Academy of Sciences, Xi'an, China;
2.Xi'An Institute of Optics and Precision Mechanics of CAS, Xi'an, China
推荐引用方式
GB/T 7714
Su, Yunhao,Liang, Yanbing. Research on control algorithm of flexible manipulator based on PD-Type distributed parameter boundary control[C]:Institute of Electrical and Electronics Engineers Inc.,2020:508-511.
条目包含的文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
Research on control (859KB)会议论文 限制开放CC BY-NC-SA请求全文
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Su, Yunhao]的文章
[Liang, Yanbing]的文章
百度学术
百度学术中相似的文章
[Su, Yunhao]的文章
[Liang, Yanbing]的文章
必应学术
必应学术中相似的文章
[Su, Yunhao]的文章
[Liang, Yanbing]的文章
相关权益政策
暂无数据
收藏/分享
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。