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	Research on the Dynamic Control Method of CFETR Multi-Purpose Overload Robot 期刊论文 OAI收割 APPLIED SCIENCES-BASEL, 2023, 卷号: 13 作者: Zuo, Congju; Qin, Guodong; Pan, Hongtao; Xia, Liang; Wang, Feng \| 收藏 \| 浏览/下载：24/0 \| 提交时间：2023/11/10 CFETR multi-purpose overload robot sliding mode controller error compensation rigid-flexible control
	On observability analysis and observer design for a class of nonlinear uncertain systems with general elastic vibration dynamics 期刊论文 OAI收割 ASIAN JOURNAL OF CONTROL, 2021, 页码: 12 作者: Zhang, Xiaoyan; Xue, Wenchao; Zhao, Yanlong \| 收藏 \| 浏览/下载：39/0 \| 提交时间：2021/10/26 active disturbance rejection control general extended state observer observability analysis rigid-flexible coupling uncertainty estimation
	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.
	Application of precision harmonic gear drive in focusing mechanism of space camera (EI CONFERENCE) 会议论文 OAI收割 5th International Symposium on Advanced Optical Manufacturing and Testing Technologies: Smart Structures and Materials in Manufacturing and Testing, April 26, 2010 - April 29, 2010, Dalian, China 作者: Zhang X.; Zhang X.; Zhang X. 收藏 \| 浏览/下载：26/0 \| 提交时间：2013/03/25 A kind of precision harmonic gear drive in the focusing mechanism of space camera is studied which adopt external meshing complex wave transmission mode. Wave generator is combined with an elliptic cam and a flexible bearing around it. Flexspline is a structure of single wave with the same teeth. The output shaft is supported by a single cross-roller bearing. Ball screws connected the output shaft translate the rotational motion to the linear motion and drive the focusing mirror repeated moving along the linear guide. The output rigid wheel is connected with absolute encoder to detect displacement of focusing movement. It has the characteristics of big transmission ratio high precision compact structure high efficiency and smooth running etc. According to the practical application of this harmonic gear drive in the space camera the location relationship between the displacement of focusing structure and the focal plane movement is derived and the system error is analyzed its accuracy is tested with the open-loop control method. Experimental results show that transmission ratio of the instrument is 1:70 repeated positional accuracy is 2m which meet the requirements for use. 2010 SPIE.
	Adaptive backstepping control of a dual-manipulator cooperative system handling a flexible payload (EI CONFERENCE) 会议论文 OAI收割 2010 International Conference on Computer, Mechatronics, Control and Electronic Engineering, CMCE 2010, August 24, 2010 - August 26, 2010, Changchun, China 作者: Li Y.; Li Y.; Li Y.; Li Y. 收藏 \| 浏览/下载：19/0 \| 提交时间：2013/03/25 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.