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
相关论文
共 50 条
  • [21] Tracking control method for an Underactuated Unicycle Robot Using an Equilibrium State
    Isomi, Y.
    Majima, S.
    2009 IEEE INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION, VOLS 1-3, 2009, : 1844 - 1849
  • [22] Backstepping Control Method for the Trajectory Tracking for the Underactuated Autonomous Underwater Vehicle
    Wan, Lei
    Sun, Nan
    Liao, Yulei
    ADVANCES IN APPLIED SCIENCE AND INDUSTRIAL TECHNOLOGY, PTS 1 AND 2, 2013, 798-799 : 484 - 488
  • [23] Global tracking control of underactuated ships by Lyapunov's direct method
    Jiang, ZP
    AUTOMATICA, 2002, 38 (02) : 301 - 309
  • [24] Dynamic tracking and friction compensation in a 3R underactuated manipulator
    Mahulkar, V
    Gandhi, PS
    Banavar, RN
    Proceedings of the 23rd IASTED International Conference on Modelling, Identification, and Control, 2004, : 234 - 240
  • [25] Position control of an underactuated manipulator using joint friction
    Yu, KH
    Shito, Y
    Inooka, H
    INTERNATIONAL JOURNAL OF NON-LINEAR MECHANICS, 1998, 33 (04) : 607 - 614
  • [26] Control of 2R underactuated manipulator with friction
    Suzuki, T
    Miyoshi, W
    Nakamura, Y
    PROCEEDINGS OF THE 37TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4, 1998, : 2007 - 2012
  • [27] Optimal tracking control for underactuated airship
    Atyya M.
    ElBayoumi G.M.
    Lotfy M.
    Journal of Engineering and Applied Science, 2024, 71 (01):
  • [28] Trajectory Tracking Control of Underactuated Ship Based on Backstepping and Dynamic Surface Control Method
    Liu, Yong
    Li, Qiang
    Gao, Xiao-ri
    PROCEEDINGS OF THE 39TH CHINESE CONTROL CONFERENCE, 2020, : 655 - 660
  • [29] Manipulator Trajectory Tracking with a Neural Network Adaptive Control Method
    Zha, Wenbin
    Zhang, Hui
    Xu, Xiangrong
    MATHEMATICAL PROBLEMS IN ENGINEERING, 2021, 2021
  • [30] Analysis and Control of 3R Underactuated Manipulator
    Suzuki, Takahiro
    Kinoshita, Toru
    Gunji, Satoshi
    2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7, 2008, : 2970 - 2975
12345