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题名: Rotor-flying manipulator: Modeling, analysis, and control
作者: Yang B(杨斌) ; He YQ(何玉庆) ; Han JD(韩建达) ; Liu GJ(刘光军)
作者部门: 机器人学研究室
关键词: Controllers ; Robots ; State feedback
刊名: Mathematical Problems in Engineering
ISSN号: 1024-123X
出版日期: 2014
卷号: 2014, 页码:1-13
收录类别: SCI ; EI
产权排序: 1
摘要: Equipping multijoint manipulators on a mobile robot is a typical redesign scheme to make the latter be able to actively influence the surroundings and has been extensively used for many ground robots, underwater robots, and space robotic systems. However, the rotor-flying robot (RFR) is difficult to be made such redesign. This is mainly because the motion of the manipulator will bring heavy coupling between itself and the RFR system, which makes the system model highly complicated and the controller design difficult. Thus, in this paper, the modeling, analysis, and control of the combined system, called rotor-flying multijoint manipulator (RF-MJM), are conducted. Firstly, the detailed dynamics model is constructed and analyzed. Subsequently, a full-state feedback linear quadratic regulator (LQR) controller is designed through obtaining linearized model near steady state. Finally, simulations are conducted and the results are analyzed to show the basic control performance.
WOS记录号: WOS:000336131500001
WOS标题词: Science & Technology ; Technology ; Physical Sciences
类目[WOS]: Engineering, Multidisciplinary ; Mathematics, Interdisciplinary Applications
研究领域[WOS]: Engineering ; Mathematics
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内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/15128
Appears in Collections:机器人学研究室_期刊论文

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