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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
Source PublicationMECHATRONICS
2001-02-01
Volume11Issue:1Pages:59-77
SubtypeArticle
AbstractA 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.
KeywordManipulators Optimal Control Design And Construction Dynamic Modeling
WOS HeadingsScience & Technology ; Technology
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Computer Science ; Engineering
WOS SubjectAutomation & Control Systems ; Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS IDWOS:000166738700005
Citation statistics
Cited Times:16[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/9820
Collection09年以前成果
Corresponding AuthorWang, FY
Affiliation1.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
Recommended Citation
GB/T 7714
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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