Stabilization in Networked Flexible Joint Manipulator Systems

摘要：

　　This paper considers the stabilization issues in networked systems of single-link flexible joint manipulators.By using the multiinput multioutput(MIMO)feedback linearization techniques,we present a unified procedure for studying stabilization problems of the network consisting of N flexible joint manipulators.Some general criteria on both local and global stabilization for such network are proposed,and the corresponding control inputs at some specific controlled nodes can be explicitly presented.The procedure shows that the networked single-link flexible manipulator systems can always be stabilized using MIMO linearization strategies.Finally,numerical simulations are performed to demonstrate the feasibility and effectiveness of the proposed procedure.

关键词： Networked Manipulator system Stabilization Linearization techniques

作者: Yi Liu Jun Liu Jin Zhou

作者单位: Shanghai Institute of Applied Mathematics and Mechanics,Shanghai 200072,China Shanghai Institute of Applied Mathematics and Mechanics,Shanghai 200072,China;Department of Mathemat

会议类型: 国际会议

会议名称: The 2015 Chinese Intelligent Automation Conference(2015中国智能自动化会议)

会议地点: 福州

会议语种:英文

页码: 389-398

在线出版日期: 2015-05-08（万方平台首次上网日期，不代表论文的发表时间）