Positioning Control of a Shell Transfer Manipulator under Uncertain via a Piecewise Linear Control Algorithm

摘要：

　　The accurate positioning control of a novel shell transfer manipulator with vibration base is studied in this paper.Firstly,the working principle of the manipulator is expounded and the dynamic model of the manipulator is built via the Lagrange of the second kind.Secondly,on the assumption that the control force is bounded in norm,a feedback controller is designed,based on a piecewise linear control algorithm.The controllers gains changed as a step-function of time,while the system approaching the terminal state.The control force always satisfies the given constrain.Finally,the dynamic equation is solved using Runge-Kutta method.Results demonstrate that the controller greatly compensates the effects of the external perturbation,fulfills the accurate point to point control of the shell transfer manipulator,and has good robustness.

关键词： Shell Transfer Manipulator Uncertain Parameters Positioning Control Lyapunov Function

作者: Yufei GUO Baolin HOU Laipeng YAO Xi WANG

作者单位: School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,P.R.China

会议类型: 国际会议

会议名称: The 5th International Conference on Mechanical Engineering and Mechanics(第五届国际机械工程与力学会议)

会议地点: 江苏扬州

会议语种:英文

页码: 601-607

在线出版日期: 2014-08-21（万方平台首次上网日期，不代表论文的发表时间）