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Liner Optimal Tracking Control of a Three-degree-of-freedom Air Floating Robot
Zhang X(张啸); He Y(贺云); Liu Y(刘勇); Xu ZG(徐志刚); Wang JY(王军义); Bai XL(白鑫林)
Department装备制造技术研究室
Conference Name7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
Conference DateJuly 31 - August 4, 2017
Conference PlaceHawaii, USA
Author of SourceIEEE Robotics and Automation Society
Source Publication2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
PublisherIEEE
Publication PlaceNew York
2017
Pages820-824
Indexed ByEI ; CPCI(ISTP)
EI Accession number20183905873555
WOS IDWOS:000447628700149
Contribution Rank1
ISBN978-1-5386-0489-2
Abstract

This paper address the optimal tracking control problem of an air floating robot by combining linear optimal control theory and output regulation techniques. The developed controller is able to asymptotically track different reference signals. Interestingly, the transient performance is improved by minimizing a predefined cost functional. Simulation results demonstrate the effectiveness of the proposed approach.

Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/21285
Collection智能产线与系统研究室
Corresponding AuthorZhang X(张啸); He Y(贺云)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
Recommended Citation
GB/T 7714
Zhang X,He Y,Liu Y,et al. Liner Optimal Tracking Control of a Three-degree-of-freedom Air Floating Robot[C]//IEEE Robotics and Automation Society. New York:IEEE,2017:820-824.
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