Quantization control for flexible manipulators with PDE model
文献类型：期刊论文
| 作者 | Wang, Jiacheng2; Yang, Hongjun1 ; Liu, Jinkun2; Wang, Shuquan3
|
| 刊名 | ASIAN JOURNAL OF CONTROL
 |
| 出版日期 | 2021-11-19 |
| 页码 | 16 |
| 关键词 | boundary control distributed control flexible manipulator system PDE model quantization control |
| ISSN号 | 1561-8625 |
| DOI | 10.1002/asjc.2707 |
| 通讯作者 | Liu, Jinkun(ljk@buaa.edu.cn) |
| 英文摘要 | In this paper, two different quantization control laws are proposed for the single-link manipulator system with horizontal motion and input signal quantization. Considering the characteristics of distributed parameters of the flexible system, the dynamic model of the system is represented by partial differential equations (PDEs) and boundary conditions. One of the control laws is proposed to follow the desired time-varying joint angle and eliminate boundary deformation of the link simultaneously. The other control law is proposed to track the required constant angle and suppress the distributed deformation of the link. The two control schemes can not only guarantee the stability of the system but also meet the control requirements under the premise of input signal quantization. Numerical simulations are provided to verify the performance of the controller. |
| WOS关键词 | VIBRATION CONTROL ; LINK MANIPULATOR ; FEEDBACK-CONTROL ; LINEAR-SYSTEMS |
| 资助项目 | National Natural Science Foundation of China[61873296] ; CAS Prospective Deployment Project[ZDRW-KT-2019-1-010402] |
| WOS研究方向 | Automation & Control Systems |
| 语种 | 英语 |
| WOS记录号 | WOS:000720337500001 |
| 出版者 | WILEY |
| 资助机构 | National Natural Science Foundation of China ; CAS Prospective Deployment Project |
| 源URL | [http://ir.ia.ac.cn/handle/173211/46503]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 通讯作者 | Liu, Jinkun |
| 作者单位 | 1.Chinese Acad Sci, State Key Lab Management & Control Complex Syst, Inst Automat, Beijing, Peoples R China 2.Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China 3.Chinese Acad Sci, Div Space Explorat, Technol & Engn Ctr Space Utilizat, Beijing, Peoples R China |
| 推荐引用方式 GB/T 7714 | Wang, Jiacheng,Yang, Hongjun,Liu, Jinkun,et al. Quantization control for flexible manipulators with PDE model[J]. ASIAN JOURNAL OF CONTROL,2021:16. |
| APA | Wang, Jiacheng,Yang, Hongjun,Liu, Jinkun,&Wang, Shuquan.(2021).Quantization control for flexible manipulators with PDE model.ASIAN JOURNAL OF CONTROL,16. |
| MLA | Wang, Jiacheng,et al."Quantization control for flexible manipulators with PDE model".ASIAN JOURNAL OF CONTROL (2021):16. |
入库方式： OAI收割
来源：自动化研究所
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