Optimal construction and control of flexible manipulators: a case study based on LQR output feedback

	Optimal construction and control of flexible manipulators: a case study based on LQR output feedback
	Zhou, PX ; Wang, FY; Chen, WN ; Lever, P
刊名	MECHATRONICS
	2001-02-01
卷号	11 期号:1 页码:59-77
关键词	manipulators optimal control design and construction dynamic modeling
通讯作者	Wang, FY
英文摘要	A mechatronic approach is studied here to design the mechanical system and controller concurrently for a robotic flexible manipulator. There is no coupling effects among these components which exit in traditional sequential design and this concurrent development leads to the global optimal performance. A linear quadratic regulator with output feedback is used to compare the results obtained from the traditional approach and this mechatronic approach, Using the mechatronic approach, optimal beam shapes as well as the associated optimal controllers for different feedback structures and for different objective functions can be achieved. Numerical results have indicated substantial improvements on performance. (C) 2000 Elsevier Science Ltd. All rights reserved.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Automation & Control Systems ; Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic ; Engineering, Mechanical
研究领域[WOS]	Automation & Control Systems ; Computer Science ; Engineering
收录类别	SCI
语种	英语
WOS记录号	WOS:000166738700005
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/9820]
专题	自动化研究所_09年以前成果
作者单位	1.Chinese Acad Sci, Intelligent Control & Syst Engn Ctr, Beijing, Peoples R China 2.Univ Arizona, Dept Syst & Ind Engn, Tucson, AZ 85721 USA 3.Univ Arizona, Dept Aerosp & Mech Engn, Tucson, AZ 85721 USA 4.Univ Arizona, Dept Min & Geol Engn, Tucson, AZ 85721 USA
推荐引用方式 GB/T 7714	Zhou, PX,Wang, FY,Chen, WN,et al. Optimal construction and control of flexible manipulators: a case study based on LQR output feedback[J]. MECHATRONICS,2001,11(1):59-77.
APA	Zhou, PX,Wang, FY,Chen, WN,&Lever, P.(2001).Optimal construction and control of flexible manipulators: a case study based on LQR output feedback.MECHATRONICS,11(1),59-77.
MLA	Zhou, PX,et al."Optimal construction and control of flexible manipulators: a case study based on LQR output feedback".MECHATRONICS 11.1(2001):59-77.