欢迎您！东篱公司
退出
-
申报数据库
-
立项数据库
-
成果数据库
-
项目获奖数据库
中文摘要：
轨道追踪技术是工业 manipulatory 应用的焦点许多年了，并且它的研究最近在生物工程学在 micromanipulation 被发现了。在这篇论文，一个混合视觉和力量控制方法被用于自动房间注射。三维的房间注射进程包含在接触空格在空间和力量控制追踪的轨道。一个 PD 正前馈控制赔偿控制方法被用于在 3D 空间追踪的轨道。进一步，当房间注射的全身的无常另外被考虑时，一个基于 PD 的柔韧的控制器被介绍进轨道追踪。两个都，二控制，方法理论上被证明指数会聚。最后，建议方法的有效性被它的应用程序作为与另外的控制方法相比验证到追踪问题的轨道。
英文摘要：
Trajectory tracking technology has been the focus of industrial manipulatory applications for many years, and its research has been found in micromanipulation in bioengineering recently. In this paper, a hybrid vision and force control method is applied to the automatic cell injection. The three-dimensional cell injection process involves the trajectory tracking in free space and the force control in contact space. A PD plus feedforward compensation control method is applied to the trajectory tracking in 3D space. Further, a PD-based robust controller is introduced into trajectory tracking while the systemic uncertainty of the cell injection is additionally considered. Both of the two control methods are theoretically proved to be exponential convergent. Finally, the effectiveness of the proposed method is verified as compared with other control methods by its application to trajectory tracking problem.
同期刊论文项目
同项目期刊论文
Analysis and control of the jump modes behavior of 2-D singular systems—Part I: Structural stability
Analysis and control of the jump modes behavior of 2-D singular systems—Part II: Regular observer an
LMI-based criterion for the robust guaranteed cost control of 2-D systems described by the Roesser m
NON-FRAGILE ROBUST H-infinity CONTROL FOR UNCERTAIN 2-D DELAYED SYSTEMS DESCRIBED BY THE GENERAL MOD
Robust H-infinity Filtering for Uncertain Two-Dimensional Discrete Systems with State-Varying Delays
A new delay-dependent exponential stability criterion for Ito stochastic systems with Markovian swit
位置：