Rotor-flying manipulator: Modeling, analysis, and control

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	Rotor-flying manipulator: Modeling, analysis, and control
	Yang B(杨斌); He YQ(何玉庆); Han JD(韩建达); Liu GJ(刘光军)
刊名	Mathematical Problems in Engineering
	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.