全部 标题 作者
关键词 摘要

OALib Journal期刊
ISSN: 2333-9721
费用:99美元

查看量下载量

相关文章

更多...
电子学报  2014 

PSS3-2-1正交并联机构动平台的鲁棒快速跟踪控制

DOI: 10.3969/j.iss.0372-2012-2014.03.015, PP. 517-522

Keywords: 正交并联机构,动力学模型,稳定性,鲁棒控制,轨迹跟踪

Full-Text   Cite this paper   Add to My Lib

Abstract:

针对一种新型的六自由度的正交并联机构动平台,设计一种应用于此运动平台的以闭环系统的鲁棒性作为目标的控制算法,当平台在运动过程中受到一定程度的干扰时,它可以使平台自主达到动态平衡,并且该算法具有一定的实时性.运用该控制算法对此运动平台的轨迹进行跟踪控制,仿真实验结果证明,所设计的这种控制算法对模型不精确或者外部干扰对该动平台产生最坏的影响有很好的抑制作用,对PSS3-2-1正交并联机构动平台轨迹跟踪具有响应速度快,鲁棒稳定性好等优点.

References

[1]  Jun P, Zhen L, Jianbin W.Dynamic analysis of planar parallel robot based on multi-agent[A].Measuring Technology and Mechatronics Automation (ICMTMA), 2011 Third International Conference[C].Shanghai:IEEE, 2011.1108-1111.
[2]  李允明.国外仿人机器人发展概况[J].机器人, 2005, 27(6):561-568
[3]  曹政才, 赵应涛, 吴启迪.基于Backstepping和神经动力学的非完整移动机器人点镇定[J].电子学报, 2011, 39(3):591-595. Cao Zhengcai, Zhao Yingtao, Wu Qidi.Point stabilization of a nonholonomic mobile robot based on backstepping and neural dynamics[J].Acta Electronica Sinica, 2011, 39(3):591-595.(in Chinese)
[4]  王洪瑞.载人六自由度并联机器人与虚拟环境的智能交互控制研究[R].保定:河北大学, 2011.
[5]  Jian ming Ma, Dacheng Cong, Qitao Huang, Junwei Han.Accurate tracking control strategy of harmonic motion of 6-DOF motion simulator[A].Integration Technology, 2007.ICIT''07.IEEE International Conference on[C].Shenzhen:IEEE, 2007, 534-537.
[6]  Yang min Li, Qing song Xu.Design and development of a medical parallel robot for cardiopulmonary resuscitation[J].IEEE Robotics and Automation Society, 2007, 12(3):265-273
[7]  王德进.一类非线性不确定时滞系统时滞依赖鲁棒干扰抑制[J].控制与决策, 2004, 19(6):675-679.
[8]  Li feng MA, Zi dong WANG, Xue min CHEN, Zhi GUO.Robust control for a class of nonlinear networked systems with stochastic communication delays via sliding mode conception[J].Journal of Control Theory and Applications, 2010, 8(1):34-39
[9]  Kang Yu, Xi Hongsheng, Zhang Dali, Ji Haibo.Robust and nonfragile H∞ control for a class of uncertain jump linear systems[J].Acta Automatica Sinica, 2006, 32(3):438-443
[10]  谢仑, 王志良, 王冲.一种类人机器人步行鲁棒控制器[J].机器人, 2010, 32(4):484-490
[11]  陈 , 刘飞.时变不确定系统鲁棒控制器设计的新方法[J].控制与决策, 2009, 24(4):583-586.
[12]  Duan Guangren, Zhang Biao.Robust control system design using proportional plus partial derivative state feedback[J].Acta Automatica Sinica, 2007, 33(5):506-510
[13]  P Seiler, R Sengupta.An H∞ approach to networked control[J].IEEE Transactions on Automatic Control, 2005, 50(3):356-364

Full-Text

Contact Us

service@oalib.com

QQ:3279437679

WhatsApp +8615387084133