Abstract
This paper presents a position control strategy for a planar active-passive-active (APA) underactuated manipulator with second-order nonholonomic characteristics. According to the structural characteristics of the planar APA system, we divide the system into two parts: a planar virtual Pendubot (PVP) and a planar virtual Acrobot (PVA). For the PVP, we mainly fulfill the target angle of the first link, which is calculated through the geometry method, and make the system stable. In this stage, via keeping the states of the third link being zero, the system is reduced to the PVP. Meanwhile, we design an open-loop control law based on the nilpotent approximation (NA) model of the PVP to make the second link stable and the first link stabilize at its target angle. Then, the planar APA system is reduced to a PVA with all links’ angular velocities being zero. For the PVA, we mainly realize the other two links’ target angles obtained via the particle swarm optimization (PSO) algorithm. Thus, the control objective of the planar APA system is achieved. Finally, above control strategy is verified by simulation results.
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 callMore From: International Journal of Control, Automation and Systems
Disclaimer: 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.
