Title :
A tracking control method for a PPR Underactuated manipulator
Author :
Wu, Li-Cheng ; Yang, Guo-Sheng ; Sun, Zeng-qi
Author_Institution :
Coll. of Inf. Eng., Minzu Univ. of China, Beijing, China
Abstract :
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.
Keywords :
Lyapunov methods; end effectors; feedback; motion control; position control; stability; time-varying systems; Lyapunov direct method; PPR planar underactuated manipulator; active joints; backstepping technique; control stability; end-effector; motion equations; passive joint; time-varying feedback controller; tracking control; Automation; Dynamics; Joints; Manipulator dynamics; Mathematical model; Trajectory; Backstepping; Lyapunov direct method; Output-feedback; Planar PPR manipulator; Tracking control; Underactuated Manipulator;
Conference_Titel :
Control Automation and Systems (ICCAS), 2010 International Conference on
Conference_Location :
Gyeonggi-do
Print_ISBN :
978-1-4244-7453-0
Electronic_ISBN :
978-89-93215-02-1
