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Optimal construction and control of flexible manipulators: a case study based on LQR output feedback
Zhou, PX; Wang, FY; Chen, WN; Lever, P
2001-02-01
发表期刊MECHATRONICS
卷号11期号:1页码:59-77
文章类型Article
摘要A mechatronic approach is studied here to design the mechanical system and controller concurrently for a robotic flexible manipulator. There is no coupling effects among these components which exit in traditional sequential design and this concurrent development leads to the global optimal performance. A linear quadratic regulator with output feedback is used to compare the results obtained from the traditional approach and this mechatronic approach, Using the mechatronic approach, optimal beam shapes as well as the associated optimal controllers for different feedback structures and for different objective functions can be achieved. Numerical results have indicated substantial improvements on performance. (C) 2000 Elsevier Science Ltd. All rights reserved.
关键词Manipulators Optimal Control Design And Construction Dynamic Modeling
WOS标题词Science & Technology ; Technology
收录类别SCI
语种英语
WOS研究方向Automation & Control Systems ; Computer Science ; Engineering
WOS类目Automation & Control Systems ; Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS记录号WOS:000166738700005
引用统计
被引频次:16[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/9820
专题09年以前成果
通讯作者Wang, FY
作者单位1.Chinese Acad Sci, Intelligent Control & Syst Engn Ctr, Beijing, Peoples R China
2.Univ Arizona, Dept Syst & Ind Engn, Tucson, AZ 85721 USA
3.Univ Arizona, Dept Aerosp & Mech Engn, Tucson, AZ 85721 USA
4.Univ Arizona, Dept Min & Geol Engn, Tucson, AZ 85721 USA
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Zhou, PX,Wang, FY,Chen, WN,et al. Optimal construction and control of flexible manipulators: a case study based on LQR output feedback[J]. MECHATRONICS,2001,11(1):59-77.
APA Zhou, PX,Wang, FY,Chen, WN,&Lever, P.(2001).Optimal construction and control of flexible manipulators: a case study based on LQR output feedback.MECHATRONICS,11(1),59-77.
MLA Zhou, PX,et al."Optimal construction and control of flexible manipulators: a case study based on LQR output feedback".MECHATRONICS 11.1(2001):59-77.
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