Three-State Space Reformulation and Control of MD-Included One-Link Robot System Using Direct-Derivative and Zhang-Dynamics Methods

被引：0
作者：
Zhang, Yunong [1 ,2 ,3 ]
Li, Wan [1 ,2 ,3 ]
Qiu, Binbin [1 ,2 ,3 ]
Ding, Yaqiong [1 ,2 ,3 ]
Zhang, Deyang [1 ,2 ,3 ]
机构：
[1] Sun Yat Sen Univ, Sch Informat Sci & Technol, Guangzhou 510006, Guangdong, Peoples R China
[2] Minist Educ, Key Lab Autonomous Syst & Networked Control, Guangzhou 510640, Guangdong, Peoples R China
[3] SYSU CMU Shunde Int Joint Res Inst, Foshan 528300, Peoples R China
来源：
2017 29TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC) | 2017年
基金：
中国国家自然科学基金;
关键词：
Tracking Control; Nonlinear System; One-Link Robot System; Motor Dynamics; Zhang-Dynamics Method; TRACKING CONTROL; STABILITY ANALYSIS; NEURAL DYNAMICS; DESIGN;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Tracking control of nonlinear systems is a hot topic in various fields, especially in robotics. In this paper, a nonlinear one-link (1L) robot system with motor dynamics (MD) included is investigated, and a novel method, i.e., Zhang-dynamics (ZD) method, is applied to solve the tracking control problem of this nonlinear system. A ZD controller of the nonlinear MD-included 1L robot system is designed. The simpleness and effectiveness of ZD method are proved through theoretical analysis. Moreover, computer-simulation results substantiate the high performance of the ZD controller. It is worth pointing out that our research provides the feasibility of applying ZD method in more and more practical fields.
引用
收藏
页码：3724 / 3729
页数：6
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