@inproceedings{a3ff901adb9e4a9aaee91b47f4fdc871,
title = "High Precision Grasping Control Based on Linear Quadratic Regulator for Three-Joint Aerial Manipulator",
abstract = "In this paper, the high precision grasping control problem for the Three-joint Aerial Manipulator (TAM) is formulated as a Linear Quadratic Regulator (LQR) problem and a corresponding linear discrete controller is designed. Specially, the deviation of control input at adjacent moments is introduced in the standard quadratic cost function making the control torque change relatively gentle while ensuring the control accuracy. The optimal control input at each moment within finite time is obtained by solving Riccati equation. It is drawn that the designed controller has better convergence and the control torque changes smoother than that of proportional-integral-derivative (PID) controller by simulation experiments.",
keywords = "Grasping Control, Linear Quadratic Regulator (LQR), Three-joint Aerial Manipulator (TAM)",
author = "Xinyu Zhu and Jiang Wu",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.; International Conference on Guidance, Navigation and Control, ICGNC 2024 ; Conference date: 09-08-2024 Through 11-08-2024",
year = "2025",
doi = "10.1007/978-981-96-2232-0\_32",
language = "英语",
isbn = "9789819622313",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "317--325",
editor = "Liang Yan and Haibin Duan and Yimin Deng",
booktitle = "Advances in Guidance, Navigation and Control - Proceedings of 2024 International Conference on Guidance, Navigation and Control Volume 9",
address = "德国",
}