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相關文獻
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題 名 | Dynamic Modeling and Control of One-Link Flexible Manipulator=單一連桿可撓性臂之動力模式之建立及控制 |
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作 者 | 呂明山; | 書刊名 | 明志工專學報 |
卷 期 | 28 1996.05[民85.05] |
頁 次 | 頁17-27 |
分類號 | 446.014 |
關鍵詞 | 線性; 非線性; 回授控制; 撓性臂; Linear; Nonlinear; Feedback control; Flexible-link; |
語 文 | 英文(English) |
英文摘要 | The Liapunov "second method" is applied to nonlinear control system design for a flexible-link manipulator being maneuvered through large angles or carrying a heavy load. The equations of motion for a typical flexible-link manipulator consist of two parts, namely, the linear (or linearized) part and the nonlinear part. A linear control law is designed for the linear part by ignoring the nonlinearities. A Liapunov function is constructed from the linear system equations. A nonlinear feedback control is then designed for the nonlinear portion of the system equxtion by making the derivative of the Liapunov function negative definite. Combination of these two parts provides a stable feedback control design for nonlinear systems. A numerical exaple is given to demonstrate the proposed control design concept. |
本系統中英文摘要資訊取自各篇刊載內容。