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author:

Yu, Xiaoyan (Yu, Xiaoyan.) [1]

Indexed by:

EI

Abstract:

A hybrid-trajectory based terminal sliding mode controller (TSMC) is addressed for a free-flying two-flexible-link space manipulator with an elastic base. In this system, there are unknown but bounded external disturbances and parameters. First, the Lagrange dynamic model of the manipulator was established by the momentum conservation. Second, a TSMC based on desired trajectory was proposed, by which the terminal trajectories were asymptotically tracked and periodic flexible vibrations were excited. Then based on virtual control force, hybrid trajectories were generated, in which the flexible variables, the joint angular displacement errors and the base's attitude error were considered. Finally, a hybrid-trajectory TSMC was presented, by which the terminal trajectories were asymptotically tracked and the flexible vibrations were suppressed. © Cambridge University Press 2019.

Keyword:

Agricultural robots Flexible manipulators Sliding mode control Spacecraft equipment Trajectories

Community:

  • [ 1 ] [Yu, Xiaoyan]School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, Fujian Province; 350116, China
  • [ 2 ] [Yu, Xiaoyan]Key Laboratory of Fluid Power and Intelligent Electro-Hydraulic Control (Fuzhou University), Fujian Province University, Fuzhou, Fujian Province; 350116, China

Reprint 's Address:

  • [yu, xiaoyan]school of mechanical engineering and automation, fuzhou university, fuzhou, fujian province; 350116, china;;[yu, xiaoyan]key laboratory of fluid power and intelligent electro-hydraulic control (fuzhou university), fujian province university, fuzhou, fujian province; 350116, china

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Source :

Robotica

ISSN: 0263-5747

Year: 2020

Issue: 3

Volume: 38

Page: 550-563

2 . 0 8 8

JCR@2020

1 . 9 0 0

JCR@2023

ESI HC Threshold:132

JCR Journal Grade:3

Cited Count:

WoS CC Cited Count:

SCOPUS Cited Count: 21

ESI Highly Cited Papers on the List: 0 Unfold All

WanFang Cited Count:

Chinese Cited Count:

30 Days PV: 1

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