柔性双连杆机械臂的PDE控制

Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference Pub Date : 2001-11-11 DOI:10.1115/imece2001/dsc-24628

X. Zhang, W. Xu, S. Nair, V. Chellaboina

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引用次数: 0

摘要

提出了一种基于偏微分方程的柔性双连杆机械臂稳定应变反馈控制设计方法。稳定性采用基于李雅普诺夫的设计来建立。

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PDE Control of a Flexible Two-Link Manipulator

A stable strain feedback control design is proposed for a flexible two-link manipulator using a model with partial differential equations directly. Stability is established using a Lyapunov-based design.

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Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference

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