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题名: Modeling and control of rotor-flying multi-joint manipulator
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
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: The 19th World Congress of the International Federation of Automatic Control
会议录出版者: IFAC
会议录出版地: Zürich, Switzerland
出版日期: 2014
页码: 11024-11209
收录类别: EI
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.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/15404
Appears in Collections:机器人学研究室_会议论文

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