中国科学院机构知识库网格系统: Adaptive backstepping control of a dual-manipulator cooperative system handling a flexible payload (EI CONFERENCE)

中国科学院机构知识库网格

Chinese Academy of Sciences Institutional Repositories Grid

Adaptive backstepping control of a dual-manipulator cooperative system handling a flexible payload (EI CONFERENCE)

文献类型：会议论文


作者	Li Y.; Li Y.; Li Y.; Li Y.
出版日期	2010
会议名称	2010 International Conference on Computer, Mechatronics, Control and Electronic Engineering, CMCE 2010, August 24, 2010 - August 26, 2010
会议地点	Changchun, China
关键词	Two manipulators handling a flexible payload are studied based on adaptive backstepping control theory. Considering the complexity of the dynamic model the obtained model is divided into a slow subsystem describing the large rigid motion and a fast subsystem expressing the elastic vibration by singular perturbation theory. A cooperative controller is designed based on adaptive backstepping control. The slow subsystem can complete system trajectory tracking performance. The fast subsystem can suppress the elastic vibration of the system. Stability of the system is proved by using Lyapunov stability theory. The validity of the proposed scheme is demonstrated by simulations. 2010 IEEE.
页码	238-241
收录类别	EI
源URL	[http://ir.ciomp.ac.cn/handle/181722/33170]
专题	长春光学精密机械与物理研究所_中科院长春光机所知识产出_会议论文
推荐引用方式 GB/T 7714	Li Y.,Li Y.,Li Y.,et al. Adaptive backstepping control of a dual-manipulator cooperative system handling a flexible payload (EI CONFERENCE)[C]. 见:2010 International Conference on Computer, Mechatronics, Control and Electronic Engineering, CMCE 2010, August 24, 2010 - August 26, 2010. Changchun, China.

入库方式： OAI收割

来源：长春光学精密机械与物理研究所

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