A Tracking Control Method for a PPR Underactuated Manipulator

被引：0
|
作者：
Wu, Li-Cheng [1 ]
Yang, Guo-Sheng [1 ]
Sun, Zeng-Qi [2 ]
机构：
[1] Minzu Univ China, Coll Informat Engn, Beijing 100081, Peoples R China
[2] Tsinghua Univ, State Key Lab Intelligent Technol & Syst, Beijing 100084, Peoples R China
来源：
INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2010) | 2010年
关键词：
Underactuated Manipulator; Planar PPR manipulator; Tracking control; Lyapunov direct method; Backstepping; Output-feedback; JOINT;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A nonlinear output feedback controller is developed for an Underactuated manipulator in this paper. The PPR planar Underactuated manipulator consists of two active joints and one passive joint. The dynamic constraint on the free link is 2nd-order non-holonomic. Firstly, the motion equations are transformed into a special form using some global coordinate and input transformations. Secondly, a time-varying feedback controller is developed using Lyapunov's direct method and an extension of the current popular backstepping technique. The control method is able to force the end-effector of a three DOF planar underactuated manipulator to globally asymptotically track a reference trajectory. And the stability of the control method is proved. Simulation results are provided to demonstrate the effectiveness of the proposed control laws.
引用
收藏
页码：1255 / 1258
页数：4
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