期刊
COMMUNICATIONS IN NONLINEAR SCIENCE AND NUMERICAL SIMULATION
卷 16, 期 5, 页码 2332-2341出版社
ELSEVIER SCIENCE BV
DOI: 10.1016/j.cnsns.2010.04.057
关键词
State-Dependent Riccati Equation; Robotic manipulator; Slewing motion
类别
资金
- Fundacao de Amparo a Pesquisa do Estado de Sao Paulo (FAPESP)
- Conselho Nacional de Pesquisas (CNPq)
The State-Dependent Riccati Equation (SDRE) control of a nonlinear rigid-flexible two link robotic manipulator is investigated. Different cases are considered assuming small deviations and large deviations from the desired final states. The nonlinear governing equations of motion are coupled, providing considerable excitation of all the nonlinear terms. The results present satisfactory final states but also undesirable overshoot. (C) 2010 Elsevier B.V. All rights reserved.
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