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 |
DOI | 10.1109/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. |
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Research on control (859KB) | 会议论文 | 限制开放 | CC BY-NC-SA | 请求全文 |
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