文献类型：期刊文献

英文题名：Stabilization of a Class of Robot Systems in Fractional-Order Hold Case via Sampling Zero Dynamic Stable Approach

作者：Ou, Minghui Liang, Shan Yang, Zhiyong Zeng, Cheng Liu, Fei

第一作者：Ou, Minghui

通信作者：Liang, S[1];Liang, S[2]

机构：[1]Chongqing Univ, Key Lab Dependable Serv Comp Cyber Phys Soc, Minist Educ, Chongqing 400044, Peoples R China;[2]Chongqing Univ, Coll Automat, Chongqing 400044, Peoples R China;[3]Chongqing Vocat Inst Engn, Dept Informat Engn, Chongqing 402260, Peoples R China;[4]Guizhou Inst Technol, Sch Sci, Guiyang 550005, Guizhou, Peoples R China;[5]Natl Robot Test & Assessment Ctr Chongqing, Chongqing 400714, Peoples R China

第一机构：Chongqing Univ, Key Lab Dependable Serv Comp Cyber Phys Soc, Minist Educ, Chongqing 400044, Peoples R China

通信机构：corresponding author), Chongqing Univ, Key Lab Dependable Serv Comp Cyber Phys Soc, Minist Educ, Chongqing 400044, Peoples R China;corresponding author), Chongqing Univ, Coll Automat, Chongqing 400044, Peoples R China.

年份：2019

卷号：7

起止页码：129770-129777

外文期刊名：IEEE ACCESS

收录：;EI(收录号：20194507637723);Scopus(收录号：2-s2.0-85074452805);WOS:【SCI-EXPANDED(收录号:WOS:000487236000011)】；

基金：This work was supported in part by the National Natural Science Foundation of China under Grant 61771077 and Grant 61763004, in part by the Science and Technology Major Special Project of Guangxi under Grant GKAA17129002, in part by the Basic Research and Frontier Exploration in Chongqing Science and Technology Commission under Grant CSTC2018jcyjAX0815, and in part by the Key Research Program of Chongqing Science and Technology under Grant CSTC2017jcyjBX0025.

语种：英文

外文关键词：Fractional-order hold; robot system; sampled-data model; stabilization; zero dynamic

摘要：Robots play a significant-and growing-role in many practical fields, for example, the corresponding application in industrial and medicine field. More importantly, for the control of a robot system, a good control performance is natural and necessary requirements. And since the control of system is usually realized by a digital computer, sampling is an inevitable process in actual engineering. However, it is a well known truth that unstable zero dynamics can greatly limit the control performance of the system. This paper investigates the stabilization of a class of robot system based on the corresponding sampled-data model, which generated from the discretization with fractional-order hold (FROH). Further, the sampled-data model of the two degree of freedom (DOF) robot system is obtained and the expression and stable conditions of sampling zero dynamics are also obtained. What is more, the control strategy of the corresponding robot system is acquired using the sampling zero dynamic stable approach. Finally, numerical example is provide to illustrate the effectiveness of the proposed approach in this paper.