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Title:
COOPERATIVE TRACKING-BASED VIBRATION CONTROL METHOD FOR FLEXIBLE MECHANICAL ARM
Document Type and Number:
WIPO Patent Application WO/2021/185159
Kind Code:
A1
Abstract:
A cooperative tracking-based vibration control method for flexible mechanical arm comprises: constructing, according to kinetic features, a kinetic model of a flexible mechanical arm; constructing a flexible mechanical arm group consisting of multiple flexible mechanical arms, and assigning one of the multiple flexible mechanical arms as a leader and the remaining ones as followers, and constructing, by incorporating a Lyapunov method, a cooperative control-based boundary controller to enable cooperative operation of the flexible mechanical arms and suppress vibration thereof, wherein the followers need to track a movement path of the leader to achieve cooperative operation; and constructing a Lyapunov function, by using a Lyapunov direct method, and verifying stability of the flexible mechanical arms under action of the controller. The cooperative tracking-based vibration control method effectively suppresses vibrations of flexible mechanical arms, and enables a follower to track a movement path of a leader, thereby achieving cooperative control of multiple flexible mechanical arms.

Inventors:
LIU YU (CN)
ZHENG XIAOHUI (CN)
XU RUIFENG (CN)
QU HONGYI (CN)
YAO KE (CN)
Application Number:
PCT/CN2021/080356
Publication Date:
September 23, 2021
Filing Date:
March 12, 2021
Export Citation:
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Assignee:
UNIV SOUTH CHINA TECH (CN)
GUANGZHOU INSTITUTE OF MODERN INDUSTRIAL TECH (CN)
International Classes:
B25J9/16
Foreign References:
CN111360830A2020-07-03
CN110673469A2020-01-10
CN104589344A2015-05-06
CN108181836A2018-06-19
CN106078742A2016-11-09
CN102540881A2012-07-04
JPH04192008A1992-07-10
Attorney, Agent or Firm:
ADVANCE CHINA IP LAW OFFICE (CN)
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