Modeling and control of rotor-flying multi-joint manipulator
文献类型：会议论文
| 作者 | Yang B(杨斌) ; He YQ(何玉庆); Han JD(韩建达); Liu GJ(刘光军)
|
| 出版日期 | 2014 |
| 会议名称 | 19th World Congress of the International Federation of Automatic Control |
| 会议日期 | August 24-29, 2014 |
| 会议地点 | Cape Town, South Africa |
| 关键词 | manipulator Rotor Flying Robot trim point Linearization, Euler-Lagrange equation |
| 页码 | 11024-11209 |
| 通讯作者 | 杨斌 |
| 中文摘要 | Equipping manipulators on a mobile robot to actively influence its surroundings has been extensively used in many ground robots, underwater robots and space robots systems. However, it is difficult to make such re-design in a Rotor Flying Robot (RFR). This is mainly because 1)the equipped manipulator will bring heavy coupling between it and the RFR system, which makes the whole system model highly complicated and makes the central controller design impossible. 2)the movement of the manipulator will introduce a great deal time-varying disturbance to the RFR system, which makes distributed control design also challenging. Thus, in this paper, utilizing the Euler-Lagrange equation, the highly accurate dynamics model of a combined system, called Rotor-Flying Multi-Joint Manipulator (RF-MJM), is constructed and its complexity is analyzed and presented. Then, a linearized full-state feedback Linear Quadratic Regulator (LQR)controller is designed for the aircraft to hover near a trim point. Finally, simulations using MATLAB are conducted and the results are analyzed to show the basic control performance of the LQR controller. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | The 19th World Congress of the International Federation of Automatic Control
 |
| 会议录出版者 | IFAC |
| 会议录出版地 | Zürich, Switzerland |
| 语种 | 英语 |
| ISSN号 | 2405-8963 |
| WOS记录号 | WOS:000391109200335 |
| 源URL | [http://ir.sia.cn/handle/173321/15404]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Yang B,He YQ,Han JD,et al. Modeling and control of rotor-flying multi-joint manipulator[C]. 见:19th World Congress of the International Federation of Automatic Control. Cape Town, South Africa. August 24-29, 2014. |
入库方式： OAI收割
来源：沈阳自动化研究所
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