Virtual Model Reduction-based Control Strategy of Planar Three-link Underactuated Manipulator with Middle Passive Joint

被引：15

作者：

Huang, Zixin ^{[1
,2
]}

Lai, Xuzhi ^{[1
,2
]}

Zhang, Pan ^{[1
,2
]}

Wang, Yawu ^{[1
,2
]}

Wu, Min ^{[1
,2
]}

机构：

[1] China Univ Geosci, Sch Automat, 388 Lumo Rd, Wuhan 430074, Peoples R China

[2] Hubei Key Lab Adv Control & Intelligent Automat C, Wuhan 430074, Peoples R China

来源：

INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | 2021年 / 19卷 / 01期

基金：

中国国家自然科学基金;

关键词：

Nilpotent approximation; planar underactuated manipulator; position control; PSO algorithm; second-order nonholonomic characteristics; INTELLIGENT OPTIMIZATION; TRACKING CONTROL; STABILIZATION;

D O I：

10.1007/s12555-019-0904-9

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：29 / 39

页数：11

共 23 条

[1] Nonholonomic control of a three-DOF planar underactuated manipulator [J].