Modeling and Steady Holding Strategy of a Climbing Robot

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 空间自动化技术研究室

	Modeling and Steady Holding Strategy of a Climbing Robot
	Guo LS(郭良帅); Liu YW(刘玉旺); Wang FH(王福华)
	2017
会议名称	2nd International Conference on Electrical, Automation and Mechanical Engineering (EAME)
会议日期	APR 23-24, 2017
会议地点	Shanghai, China
关键词	model reference adaptive control multi-DOF underactuated mechanism lyapunov stability theory spring-coupling
页码	321-325
通讯作者	Liu YW(刘玉旺)
中文摘要	Underactuated mechanism is a nonlinear system which dimension of input is less than one of state. There are still some problems to be explorations in underactuated mechanism control, especially in ones with multi-DOF. The model reference adaptive control is proposed to solve the control problem of a novel underactuated spring-coupling mechanism with multi-DOF in this paper. Firstly, dynamics model is established and linearized. Then, an adjustable gain adaptive controller based on Lyapunov stability theory is presented. Finally, simulations are presented to illustrate the superior performance of the proposed method through theoretical analysis and design. The results show that the stability, accuracy and rapid response are fine, and the adaptive steady holding problem of multi-DOF underactuated mechanism is solved.
收录类别	CPCI（ISTP）
产权排序	1
会议录	PROCEEDINGS OF THE 2017 2ND INTERNATIONAL CONFERENCE ON ELECTRICAL, AUTOMATION AND MECHANICAL ENGINEERING (EAME 2017)
会议录出版者	ATLANTIS PRESS
会议录出版地	PARIS
语种	英语
ISSN号	2352-5401
ISBN号	978-94-6252-332-6
WOS记录号	WOS:000416080900076
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/21243]
专题	沈阳自动化研究所_空间自动化技术研究室
作者单位	1.University of Chinese Academy of Sciences, China 2.Shenyang Institute of Automation, Chinese Academy of Sciences, China 3.Shenyang Ligong University, China
推荐引用方式 GB/T 7714	Guo LS,Liu YW,Wang FH. Modeling and Steady Holding Strategy of a Climbing Robot[C]. 见:2nd International Conference on Electrical, Automation and Mechanical Engineering (EAME). Shanghai, China. APR 23-24, 2017.