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	Quantization control for flexible manipulators with PDE model 期刊论文 OAI收割 ASIAN JOURNAL OF CONTROL, 2021, 页码: 16 作者: Wang, Jiacheng; Yang, Hongjun; Liu, Jinkun; Wang, Shuquan \| 收藏 \| 浏览/下载：32/0 \| 提交时间：2021/12/28 boundary control distributed control flexible manipulator system PDE model quantization control
	Hydrodynamics of a Flexible Flipper for an Underwater Vehicle-Manipulator System 期刊论文 OAI收割 IEEE/ASME Transactions on Mechatronics, 2021, 卷号: -, 期号: -, 页码: 1-11 作者: Bai XJ(白雪剑); Wang Y(王宇); Wang R(王睿); Wang S(王硕); Tan M(谭民) \| 收藏 \| 浏览/下载：32/0 \| 提交时间：2022/01/06 Biomimetic robot flexible flipper hydrodynamic model underwater vehicle-manipulator system
	Bilateral coordination control of flexible master-slave manipulators using a partial differential equation model 期刊论文 OAI收割 JOURNAL OF VIBRATION AND CONTROL, 2020, 页码: 12 作者: Li, Le \| 收藏 \| 浏览/下载：26/0 \| 提交时间：2020/09/21 Bilateral teleoperation system flexible manipulator coordination control vibration control partial differential equation model
	Distributed disturbance-observer-based vibration control for a flexible-link manipulator with output constraints 期刊论文 OAI收割 SCIENCE CHINA-TECHNOLOGICAL SCIENCES, 2018, 卷号: 61, 期号: 10, 页码: 1528-1536 作者: Yang HongJun; Liu JinKun; He Wei \| 收藏 \| 浏览/下载：23/0 \| 提交时间：2019/12/16 flexible manipulator distributed vibration control disturbance observer partial differential equation output constraint distributed parameter system
	An energy-based position control and asymptotic stability analysis for manipulator handling a flexible payload (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：46/0 \| 提交时间：2013/03/25 In this paper an exact dynamic model of manipulator handling a flexible payload is derived by Hamiton's principle. On the basis of the distributed parameter model a position controller is designed by using Lyapunov function related to the total energy of the system. The controller can achieve the given desired link angles and suppress the vibrations of flexible payload. Using the LaSalle's invariance principle and the characteristic of the differential operator the asymptotic stability in the neighbor-hood of the desired states of the closed-loop system is proved. The effectiveness of the control strategy proposed is supported by some simulations. 2012 IEEE.
	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.
	基于同时设计的柔性机械臂系统建模和控制优化学位论文 OAI收割工学博士, 中国科学院自动化研究所: 中国科学院研究生院, 2004 作者: 肖志权收藏 \| 浏览/下载：141/0 \| 提交时间：2015/09/02 同时设计柔性机械臂系统建模模型简化能量判据鲁棒控制器 LMI Concurrent Design Flexible Manipulator System Modeling Model Simplification Energy Criterion Robust Controller LMI