Design of a flexible manipulator controller based on input-output linearization

被引：0

作者：

Sun, Ying ^{[1
]}

Wu, Runzhi ^{[1
]}

Cheng, Fangxiao ^{[1
]}

Yu, Lan ^{[2
]}

机构：

[1] Changchun Univ Technol, Dept Elect & Elect Engn, Changchun, Jilin Province, Peoples R China

[2] Changchun Inst Technol, Dept Energy & Power, Changchun, Jilin Province, Peoples R China

来源：

2007 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION AND LOGISTICS, VOLS 1-6 | 2007年

关键词：

flexible manipulator; input-output linearization; fuzzy control;

D O I：

10.1109/ICAL.2007.4338632

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Basing on input-output linearization strategy, a model of the flexible manipulator can be decomposed into an input-output subsystem and a zero-dynamics subsystem A fuzzy control is used to input-output subsystem. By analyzing the relationship between the eigenvalues of the zero-dynamics subsystem and the designed parameters in the output of the redefined system, the designed parameters are determined, and guarantee the zero-dynamics to be asymptotically stable at equilibrium point, thus guarantee the whole flexible manipulator system to be asymptotically stable.

引用

页码：586 / +

页数：2