Optimal construction and control of flexible manipulators: a case study based on LQR output feedback
文献类型：期刊论文
| 作者 | Zhou, PX; Wang, FY ; Chen, WN; Lever, P
|
| 刊名 | MECHATRONICS
 |
| 出版日期 | 2001-02-01 |
| 卷号 | 11期号:1页码:59-77 |
| 关键词 | manipulators optimal control design and construction dynamic modeling |
| 通讯作者 | Wang, FY |
| 英文摘要 | A mechatronic approach is studied here to design the mechanical system and controller concurrently for a robotic flexible manipulator. There is no coupling effects among these components which exit in traditional sequential design and this concurrent development leads to the global optimal performance. A linear quadratic regulator with output feedback is used to compare the results obtained from the traditional approach and this mechatronic approach, Using the mechatronic approach, optimal beam shapes as well as the associated optimal controllers for different feedback structures and for different objective functions can be achieved. Numerical results have indicated substantial improvements on performance. (C) 2000 Elsevier Science Ltd. All rights reserved. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic ; Engineering, Mechanical |
| 研究领域[WOS] | Automation & Control Systems ; Computer Science ; Engineering |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000166738700005 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/9820]  |
| 专题 | 自动化研究所_09年以前成果 |
| 作者单位 | 1.Chinese Acad Sci, Intelligent Control & Syst Engn Ctr, Beijing, Peoples R China 2.Univ Arizona, Dept Syst & Ind Engn, Tucson, AZ 85721 USA 3.Univ Arizona, Dept Aerosp & Mech Engn, Tucson, AZ 85721 USA 4.Univ Arizona, Dept Min & Geol Engn, Tucson, AZ 85721 USA |
| 推荐引用方式 GB/T 7714 | Zhou, PX,Wang, FY,Chen, WN,et al. Optimal construction and control of flexible manipulators: a case study based on LQR output feedback[J]. MECHATRONICS,2001,11(1):59-77. |
| APA | Zhou, PX,Wang, FY,Chen, WN,&Lever, P.(2001).Optimal construction and control of flexible manipulators: a case study based on LQR output feedback.MECHATRONICS,11(1),59-77. |
| MLA | Zhou, PX,et al."Optimal construction and control of flexible manipulators: a case study based on LQR output feedback".MECHATRONICS 11.1(2001):59-77. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
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。