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Modeling and control of rotor-flying multi-joint manipulator
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
会议名称19th World Congress of the International Federation of Automatic Control
会议日期August 24-29, 2014
会议地点Cape Town, South Africa
会议录名称The 19th World Congress of the International Federation of Automatic Control
出版者IFAC
出版地Zürich, Switzerland
2014
页码11024-11209
收录类别EI ; CPCI(ISTP)
EI收录号20152200885132
WOS记录号WOS:000391109200335
产权排序1
ISSN号2405-8963
关键词Manipulator Rotor Flying Robot Trim Point Linearization Euler-lagrange Equation
摘要Equipping manipulators on a mobile robot to actively influence its surroundings has been extensively used in many ground robots, underwater robots and space robots systems. However, it is difficult to make such re-design in a Rotor Flying Robot (RFR). This is mainly because 1)the equipped manipulator will bring heavy coupling between it and the RFR system, which makes the whole system model highly complicated and makes the central controller design impossible. 2)the movement of the manipulator will introduce a great deal time-varying disturbance to the RFR system, which makes distributed control design also challenging. Thus, in this paper, utilizing the Euler-Lagrange equation, the highly accurate dynamics model of a combined system, called Rotor-Flying Multi-Joint Manipulator (RF-MJM), is constructed and its complexity is analyzed and presented. Then, a linearized full-state feedback Linear Quadratic Regulator (LQR)controller is designed for the aircraft to hover near a trim point. Finally, simulations using MATLAB are conducted and the results are analyzed to show the basic control performance of the LQR controller.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/15404
专题机器人学研究室
通讯作者Yang B(杨斌)
作者单位1.University of Chinese Academy of Sciences, Beijing, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, China
3.Ryerson University, Toronto, ON, Canada
推荐引用方式
GB/T 7714
Yang B,He YQ,Han JD,et al. Modeling and control of rotor-flying multi-joint manipulator[C]. Zürich, Switzerland:IFAC,2014:11024-11209.
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