An Optimal Energy Control for a Flexible Robot Arm

被引：0
|
作者：
Hou, Xuezhang [1 ]
Wang, Zuoquan [2 ]
机构：
[1] Towson Univ, Dept Math, Baltimore, MD 21252 USA
[2] Changchun Univ Sci & Technol, Sch Sci, Changchun, Peoples R China
来源：
2009 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION AND LOGISTICS ( ICAL 2009), VOLS 1-3 | 2009年
关键词：
Euler-Bernoulli Beam; Flexible Robot Arm; Optimal Control of System; Semigroup of Linear Operators; RIESZ BASIS; STABILIZATION; FEEDBACK; STABILITY; BEAMS;
D O I：
10.1109/ICAL.2009.5262913
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we are concerned with a flexible robot arm formulated by partial differential equations with initial and boundary conditions. An optimal energy control of the robot system is investigated after the system has been transformed to an abstract evolution system in an appropriate Hilbert space. The existence and uniqueness of the optimal energy control are discussed and proved, and an approximation result is obtained in terms of semigroup methods of linear operators.
引用
收藏
页码：273 / +
页数：3
相关论文
共 50 条
  • [31] OPTIMAL FEEDBACK LINEARIZATION CONTROL OF A FLEXIBLE CABLE ROBOT
    Korayem, M. H.
    Tourajizadeh, H.
    Taherifar, M.
    Korayem, A. H.
    [J]. LATIN AMERICAN APPLIED RESEARCH, 2014, 44 (03) : 259 - 265
  • [32] Safety Optimal Tracking Control Algorithm and Robot Arm Simulation
    Chen, Wenjie
    Cui, Xiaohong
    Wang, Binrui
    [J]. Binggong Xuebao/Acta Armamentarii, 2024, 45 (08): : 2688 - 2697
  • [33] Optimal robot arm control using the minimum variance model
    Simmons, G
    Demiris, Y
    [J]. JOURNAL OF ROBOTIC SYSTEMS, 2005, 22 (11): : 677 - 690
  • [34] Adaptive Optimal Tracking Control Applied for a Humanoid Robot Arm
    Hemmi, David
    Herrmann, Guido
    Na, Jing
    Mahyuddin, Muhammad Nasiruddin
    [J]. 2015 IEEE INTERNATIONAL SYMPOSIUM ON INTELLIGENT CONTROL (ISIC 2015), 2015, : 35 - 40
  • [35] Evolutionary Learning Acquisition of Optimal Joint Angle Trajectories of Flexible Robot Arm
    Kojima, Hiroyuki
    Hiruma, Takahiro
    [J]. JOURNAL OF ROBOTICS AND MECHATRONICS, 2006, 18 (01) : 103 - 110
  • [36] Position control of a flexible gantry robot arm using smart actuators
    Choi, SB
    Han, SS
    Cheong, CC
    Kim, JH
    [J]. SMART STRUCTURES AND MATERIALS 1998: MATHEMATICS AND CONTROL IN SMART STRUCTURES, 1998, 3323 : 142 - 153
  • [37] H∞ control of a flexible gantry robot arm using smart actuators
    Choi, SB
    Han, SS
    Kim, HK
    Cheong, CC
    [J]. MECHATRONICS, 1999, 9 (03) : 271 - 286
  • [38] Vibration control for a flexible-link robot arm with deflection feedback
    Tso, SK
    Yang, TW
    Xu, WL
    Sun, ZQ
    [J]. INTERNATIONAL JOURNAL OF NON-LINEAR MECHANICS, 2003, 38 (01) : 51 - 62
  • [39] EXPERIMENTS ON THE POSITION CONTROL OF A ONE-LINK FLEXIBLE ROBOT ARM
    WANG, WJ
    LU, SS
    HSU, CF
    [J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1989, 5 (03): : 373 - 377
  • [40] Mathematical Modeling and Fuzzy Control of a Flexible-@Link Robot Arm
    Sooraksa, P.
    Chen, G.
    [J]. Mathematical and Computer Modelling (Oxford), 27 (06):
12345