Time-Fuel Synthetic Optimal Controller Design of Manipulator Based on Predictive Average Dynamic
Manipulators have been widely used in many fields of human life and industrial production. It is very important to study the most effective (i. e. time- fuel synthetic optimal) control method of manipulators. In this paper, the time-fuel synthetic optimal criterion obtained, by introducing weighted parameter, farther, the predictive average dynamic method is put forward and then deal the nonlinear and coupling of manipulator with this method, finally the optimal controller with feedback form is obtained. Based on the four degree of freedom carrier crane dynamic modcl, the idiographic controller is designed. The simulation results verified the correctness and validity of the means.
Time-fuel synthetic optimal predictive average dynamic manipulator
Zou Jigang Zhang Jie Zhang Rui Li Wenxiu
College of Automation, Harbin Engineering University, Harbin, 150001, China
国际会议
北京
英文
241-245
2007-11-04（万方平台首次上网日期，不代表论文的发表时间）