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	An energy-based position control and asymptotic stability analysis for manipulator handling a flexible payload (EI CONFERENCE)
	Liu S. ; Wang Z. ; Qiao Y. ; Xie M. ; Li Y.
	2012
会议名称	10th World Congress on Intelligent Control and Automation, WCICA 2012, July 6, 2012 - July 8, 2012
会议地点	Beijing, China
关键词	In this paper an exact dynamic model of manipulator handling a flexible payload is derived by Hamiton's principle. On the basis of the distributed parameter model a position controller is designed by using Lyapunov function related to the total energy of the system. The controller can achieve the given desired link angles and suppress the vibrations of flexible payload. Using the LaSalle's invariance principle and the characteristic of the differential operator the asymptotic stability in the neighbor-hood of the desired states of the closed-loop system is proved. The effectiveness of the control strategy proposed is supported by some simulations. 2012 IEEE.
页码	3617-3622
收录类别	EI
内容类型	会议论文
源URL	[http://ir.ciomp.ac.cn/handle/181722/33303]
专题	长春光学精密机械与物理研究所_中科院长春光机所知识产出_会议论文
推荐引用方式 GB/T 7714	Liu S.,Wang Z.,Qiao Y.,et al. An energy-based position control and asymptotic stability analysis for manipulator handling a flexible payload (EI CONFERENCE)[C]. 见:10th World Congress on Intelligent Control and Automation, WCICA 2012, July 6, 2012 - July 8, 2012. Beijing, China.

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