Modeling and Steady Holding Strategy of a Climbing Robot
文献类型：会议论文
| 作者 | Guo LS(郭良帅); Liu YW(刘玉旺) ; Wang FH(王福华)
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| 出版日期 | 2017 |
| 会议名称 | 2nd International Conference on Electrical, Automation and Mechanical Engineering (EAME) |
| 会议日期 | APR 23-24, 2017 |
| 会议地点 | Shanghai, China |
| 关键词 | model reference adaptive control multi-DOF underactuated mechanism lyapunov stability theory spring-coupling |
| 页码 | 321-325 |
| 通讯作者 | Liu YW(刘玉旺) |
| 中文摘要 | Underactuated mechanism is a nonlinear system which dimension of input is less than one of state. There are still some problems to be explorations in underactuated mechanism control, especially in ones with multi-DOF. The model reference adaptive control is proposed to solve the control problem of a novel underactuated spring-coupling mechanism with multi-DOF in this paper. Firstly, dynamics model is established and linearized. Then, an adjustable gain adaptive controller based on Lyapunov stability theory is presented. Finally, simulations are presented to illustrate the superior performance of the proposed method through theoretical analysis and design. The results show that the stability, accuracy and rapid response are fine, and the adaptive steady holding problem of multi-DOF underactuated mechanism is solved. |
| 收录类别 | CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | PROCEEDINGS OF THE 2017 2ND INTERNATIONAL CONFERENCE ON ELECTRICAL, AUTOMATION AND MECHANICAL ENGINEERING (EAME 2017)
 |
| 会议录出版者 | ATLANTIS PRESS |
| 会议录出版地 | PARIS |
| 语种 | 英语 |
| ISSN号 | 2352-5401 |
| ISBN号 | 978-94-6252-332-6 |
| WOS记录号 | WOS:000416080900076 |
| 源URL | [http://ir.sia.cn/handle/173321/21243]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 作者单位 | 1.University of Chinese Academy of Sciences, China 2.Shenyang Institute of Automation, Chinese Academy of Sciences, China 3.Shenyang Ligong University, China |
| 推荐引用方式 GB/T 7714 | Guo LS,Liu YW,Wang FH. Modeling and Steady Holding Strategy of a Climbing Robot[C]. 见:2nd International Conference on Electrical, Automation and Mechanical Engineering (EAME). Shanghai, China. APR 23-24, 2017. |
入库方式： OAI收割
来源：沈阳自动化研究所
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