ON THE CONTROL OF A NOVEL MANIPULATOR WITH SLEWING AND DEPLOYABLE LINKS |
| |
| Authors: | Y CAO V J MODI C W DE SILVA A K MISRA |
| |
| Institution: | a Department of Mechanical Engineering, The University of British Columbia, Vancouver, BC, Canada V6T 1Z4;b Department of Mechanical Engineering, McGill University, Montreal, Quebec, Canada H3A 2K6 |
| |
| Abstract: | Control of an elastic space platform-based flexible manipulator with four links, two free to slew while the other two permitted to deploy, is studied using two procedures: (i) nonlinear Feedback Linearization Technique (FLT) applied to rigid degrees of freedom with flexible generalized coordinates passively regulated through coupling; (ii) rigid as well as flexible degrees of freedom controlled through FLT and Linear Quadratic Regulator (LQR), respectively. Results suggest the FLT control to be quite effective even for flexible degrees of freedom. The combination of FLT and LQR further improves the controller's performance. |
| |
| Keywords: | |
| 本文献已被 ScienceDirect 等数据库收录！ |
|
