机构

• 沈阳自动化研究所 [2]
• 长春光学精密机械与物... [1]

采集方式

• OAI收割 [3]

内容类型

• 会议论文 [2]
• 期刊论文 [1]

发表日期

• 2020 [1]
• 2016 [1]
• 2012 [1]

学科主题

筛选

浏览/检索结果: 共3条，第1-3条 帮助 条数/页： 5101520253035404550556065707580859095100 排序方式： 请选择题名升序题名降序提交时间升序提交时间降序作者升序作者降序发表日期升序发表日期降序 Adaptive robust decoupling control of multi-arm space robots using time-delay estimation technique 期刊论文  OAI收割 NONLINEAR DYNAMICS, 2020, 卷号: 100, 期号: 3, 页码: 2449–2467 作者:  Zhang X(张鑫);  Liu JG(刘金国);  Gao Q(高庆)   |  收藏  |  浏览/下载：21/0  |  提交时间：2020/05/24 Multi-arm space robots  Composite rigid dynamics modeling  Decoupling controller  Time-delay estimation  Sliding mode control   Energy-based controller decoupling of Powered Parafoil Unmanned Aerial Vehicle 会议论文  OAI收割 6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016, Chengdu, China, June 19-22, 2016 作者:  Li BB(李兵兵);  Yang LY(杨丽英);  He YQ(何玉庆);  Han JD(韩建达) 收藏  |  浏览/下载：15/0  |  提交时间：2016/11/06 powered parafoil  UAV  model simplification  system identification  input and output coupled system  energy-based controller  controller decoupling   Modeling and variable structure control of a vehicle flexible manipulator (EI CONFERENCE) 会议论文  OAI收割 10th World Congress on Intelligent Control and Automation, WCICA 2012, July 6, 2012 - July 8, 2012, Beijing, China 作者:  Wang Z.;  Li Y.;  Li Y.;  Li Y.;  Li Y. 收藏  |  浏览/下载：23/0  |  提交时间：2013/03/25 In this paper  the mathematical modeling and the application of a new trajectory tracking control technique for hydraulic-driven rigid-flexible manipulator are concerned. To get a closer dynamic behavior of the real system  both the flexible manipulator linkage and the actuator dynamics are considered. The exact dynamic model of flexible manipulator is derived using Lagrange principle and assumed modes method. The partial decoupled dynamic equation is derived using nonlinear decoupling feedback control method. The whole dynamic model is established by a driven Jacobin matrix  which represents the coupling between hydraulic servo system and mechanical system. A variable structure controller with inverse dynamics is designed for trajectory tracking. To weaken the chattering of control signal  saturation function is used to instead of sign function. The experimental results investigate the effectiveness of the proposed approaches. 2012 IEEE.