Rotor-flying manipulator: Modeling, analysis, and control | |
Yang B(杨斌); He YQ(何玉庆)![]() ![]() ![]() | |
刊名 | Mathematical Problems in Engineering
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2014 | |
卷号 | 2014页码:1-13 |
关键词 | Controllers Robots State feedback |
ISSN号 | 1024-123X |
通讯作者 | 何玉庆 |
产权排序 | 1 |
中文摘要 | Equipping multijoint manipulators on a mobile robot is a typical redesign scheme to make the latter be able to actively influence the surroundings and has been extensively used for many ground robots, underwater robots, and space robotic systems. However, the rotor-flying robot (RFR) is difficult to be made such redesign. This is mainly because the motion of the manipulator will bring heavy coupling between itself and the RFR system, which makes the system model highly complicated and the controller design difficult. Thus, in this paper, the modeling, analysis, and control of the combined system, called rotor-flying multijoint manipulator (RF-MJM), are conducted. Firstly, the detailed dynamics model is constructed and analyzed. Subsequently, a full-state feedback linear quadratic regulator (LQR) controller is designed through obtaining linearized model near steady state. Finally, simulations are conducted and the results are analyzed to show the basic control performance. |
WOS标题词 | Science & Technology ; Technology ; Physical Sciences |
类目[WOS] | Engineering, Multidisciplinary ; Mathematics, Interdisciplinary Applications |
研究领域[WOS] | Engineering ; Mathematics |
收录类别 | SCI ; EI |
语种 | 英语 |
WOS记录号 | WOS:000336131500001 |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/15128] ![]() |
专题 | 沈阳自动化研究所_机器人学研究室 |
推荐引用方式 GB/T 7714 | Yang B,He YQ,Han JD,et al. Rotor-flying manipulator: Modeling, analysis, and control[J]. Mathematical Problems in Engineering,2014,2014:1-13. |
APA | Yang B,He YQ,Han JD,&Liu GJ.(2014).Rotor-flying manipulator: Modeling, analysis, and control.Mathematical Problems in Engineering,2014,1-13. |
MLA | Yang B,et al."Rotor-flying manipulator: Modeling, analysis, and control".Mathematical Problems in Engineering 2014(2014):1-13. |
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