Abstract
This paper presents a hybrid control scheme for planar under-actuated manipulators. The proposed hybrid control combines simple switching control and proportional control into one framework. The result is obtained by simplifying early discussion on hybrid control of the Pendubot (Zhang and Tarn, 2002), where derivative control part was also included as part of the hybrid control. Our recent studies show that it may not be necessary to include the derivative control part for hybrid control of planar under-actuated manipulators. The advantages of the derivative control part, such as decreasing overshoot and setting time, can be reached through switching control. However, the proportional control part is still necessary. It is helpful for decreasing the rising time. A proof of the proposed hybrid control design criteria and an example are given in this paper.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
