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Modeling and Finite-Time Tracking Control for Mobile Manipulators with Affine and holonomic constraints

Journal of Systems Science & Complexity 2016年第3期29卷 589-601页

作者： SUN Wei WU Yuqiang School of Mathematics Science Liaocheng University Institute of Automation Qufu Normal University

This paper focuses on the problem of modeling and finite-time tracking control for mobile manipulators with affine and holonomic constraints. A reduced dynamic model is obtained by appropriately processing anne and holonomic constraints, respectively. Then finite-time tracking controllers are designed to ensure that output tracking errors of closed-loop system converge to zero in finite time while the constraint force remains bounded. Finally, detailed simulation results are provided to confirm the effectiveness of the control strategy.

关键词： Affine constraints finite-time tracking holonomic constraints mobile manipulators

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ENERGY AND QUADRATIC INVARIANTS PRESERVING METHODS FOR HAMILTONIAN SYSTEMS WITH holonomic constraints

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Journal of Computational Mathematics 2023年第1期41卷 107-132页

作者： Lei Li Dongling Wang School of Mathematical Sciences Institute of Natural SciencesMOE-LSCShanghai Jiao Tong UniversityShanghai 200240China School of Mathematics and Computational Science Xiangtan UniversityXiangtan 411105China

We introduce a new class of parametrized structure–preserving partitioned RungeKutta(α-PRK)methods for Hamiltonian systems with holonomic *** methods are symplectic for any fixed scalar parameterα,and are reduced to the usual symplectic PRK methods like Shake-Rattle method or PRK schemes based on Lobatto IIIA-IIIB pairs whenα=*** provide a new variational formulation for symplectic PRK schemes and use it to prove that theα-PRK methods can preserve the quadratic invariants for Hamiltonian systems subject to holonomic ***,for any given consistent initial values(p0,q0)and small step size h>0,it is proved that there existsα∗=α(h,p0,q0)such that the Hamiltonian energy can also be exactly preserved at each *** on this,we propose some energy and quadratic invariants preservingα-PRK ***α-PRK methods are shown to have the same convergence rate as the usual PRK methods and perform very well in various numerical experiments.

关键词： Hamiltonian systems holonomic constraints symplecticity Quadratic invariants Partitioned Runge-Kutt methods

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Constrained Fractional Variational Problems of Variable Order

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IEEE/CAA Journal of Automatica Sinica 2017年第1期4卷 80-88页

作者： Dina Tavares Ricardo Almeida Delfim F.M.Torres Department of Mathematics Polytechnic Institute of Leiria Department of Mathematics University of Aveiro

Isoperimetric problems consist in minimizing or maximizing a cost functional subject to an integral *** this work, we present two fractional isoperimetric problems where the Lagrangian depends on a combined Caputo derivative of variable fractional order and we present a new variational problem subject to a holonomic constraint. We establish necessary optimality conditions in order to determine the minimizers of the fractional problems. The terminal point in the cost integral,as well as the terminal state, are considered to be free, and we obtain corresponding natural boundary conditions.

关键词： Fractional calculus fractional calculus of variations holonomic constraints isoperimetric constraints optimization variable fractional order

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Robust Decentralized Joint Control of a 3-PRS Parallel Mechanism Based on a Simplified Model

Robust Decentralized Joint Control of a 3-PRS Parallel Mecha...

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2011 Chinese Control and Decision Conference（CCDC）

作者： Meng-Shiun Tsai Wei-Hsiang Yuan Associate Professor of National Chung Cheng University National Chung Cheng University

In this paper,a simplified dynamic model is proposed for a 3-PRS （Prismatic,Revolute,Spherical） parallel *** dynamic model is formulated in the joint space where three holonomic constraint equations are constructed to specify the coupling relationships between the actuated *** the symbolic expressions of the dynamics for the moving platform are complicated in the joint space,they are simplified and only the gravity force is *** on the simplified model,a robust decentralized joint control algorithm is proposed where a disturbance observer is embedded in the control loop to compensate the disturbance resulted from the *** simulation is performed on a circular cutting trajectory to investigate the effectiveness of the proposed simplified dynamic model.

关键词： parallel manipulator holonomic constraints decentralized control.

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