| Autor: |
Ming-Yue Cui, Xue-Jun Xie, Zhao-Jing Wu |
| Předmět: |
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| Zdroj: |
IEEE Transactions on Automatic Control; Jun2013, Vol. 58 Issue 6, p1540-1545, 6p |
| Abstrakt: |
In this technical brief, the problem of modeling and tracking control for the manipulator with multi-revolute joints in random vibration environment is considered. By analyzing the effect of environment to the mass points and introducing an equivalent stochastic noise process, a stochastic Hamiltonian dynamic model is constructed to describe the motion of the manipulator. Based on the constructed model, a state feedback backstepping controller in vector form is designed such that the unique solution of the closed-loop system is bounded in probability, and the mean square of the tracking error converges to an arbitrarily small neighborhood of zero. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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