柔性连杆机械臂的线性与非线性H/sub /spl / in//控制比较

Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207) Pub Date : 1998-06-21 DOI:10.1109/ACC.1998.707330

M. Yazdanpanah, K. Khorasani, R. Patel

{"title":"柔性连杆机械臂的线性与非线性H/sub /spl / in//控制比较","authors":"M. Yazdanpanah, K. Khorasani, R. Patel","doi":"10.1109/ACC.1998.707330","DOIUrl":null,"url":null,"abstract":"The goal is to robustly control the tip position of a single-link flexible arm. We compare linear and nonlinear H/sub /spl infin// control. The dynamic equations for the manipulator are derived following a Langrangian approach.","PeriodicalId":364267,"journal":{"name":"Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)","volume":"61 2","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1998-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Comparison of linear and nonlinear H/sub /spl infin// control for a flexible-link manipulator\",\"authors\":\"M. Yazdanpanah, K. Khorasani, R. Patel\",\"doi\":\"10.1109/ACC.1998.707330\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The goal is to robustly control the tip position of a single-link flexible arm. We compare linear and nonlinear H/sub /spl infin// control. The dynamic equations for the manipulator are derived following a Langrangian approach.\",\"PeriodicalId\":364267,\"journal\":{\"name\":\"Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)\",\"volume\":\"61 2\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1998-06-21\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ACC.1998.707330\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ACC.1998.707330","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 2

摘要

目的是对单连杆柔性臂的末端位置进行鲁棒控制。我们比较了线性和非线性H/sub /spl //控制。采用朗朗日方法推导了机械臂的动力学方程。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Comparison of linear and nonlinear H/sub /spl infin// control for a flexible-link manipulator

The goal is to robustly control the tip position of a single-link flexible arm. We compare linear and nonlinear H/sub /spl infin// control. The dynamic equations for the manipulator are derived following a Langrangian approach.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)

自引率

0.00%

发文量