Research on control algorithm of flexible manipulator based on PD-Type distributed parameter boundary control

doi:10.1109/AIEA51086.2020.00114

CORC > 西安光学精密机械研究所 > 中国科学院西安光学精密机械研究所 > 光电测量技术实验室

	Research on control algorithm of flexible manipulator based on PD-Type distributed parameter boundary control
	Su, Yunhao 1; Liang, Yanbing 2
	2020-06
会议日期	2020-06-26
会议地点	Tianjin, China
关键词	flexible manipulator distributed parameter boundary control exponential convergence method
DOI	10.1109/AIEA51086.2020.00114
页码	508-511
英文摘要	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.
产权排序	1
会议录	Proceedings - International Conference on Artificial Intelligence and Electromechanical Automation, AIEA 2020
会议录出版者	Institute of Electrical and Electronics Engineers Inc.
语种	英语
ISBN号	9781728182889
内容类型	会议论文
源URL	[http://ir.opt.ac.cn/handle/181661/93811]
专题	西安光学精密机械研究所_光电测量技术实验室
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]. 见:. Tianjin, China. 2020-06-26.