Nonlinear control of a nonholonomic free joint manipulator with the averaging method

Author

Suzuki, Takahiro ; Nakamura, Yoshihiko

Author_Institution

Dept. of Mechano-Inf., Tokyo Univ., Japan

Volume

2

fYear

1996

fDate

11-13 Dec 1996

Firstpage

1694

Abstract

In our previous work, we analyzed nonlinear behaviours of a 2DOF free-joint manipulator with a periodic input and developed a positioning of the both joints by modulating the amplitude of the input. The strategy was effective but very heuristic and cannot be applied to other systems. In this paper, we apply the averaging method to the system and derive its behaviour from the averaged system. We also discuss its feedback control and design a feedback stabilization to a desired manifold. Even though its concept is the same as in Suzuki et al. (1996), the control strategy is analytically constructed. The feedback control is designed by a Lyapunov function for the averaged system and it is also effective for the real system

Keywords

Lyapunov methods; feedback; manipulator dynamics; nonlinear control systems; position control; stability; Lyapunov function; averaged system; averaging method; feedback control; feedback stabilization; nonholonomic free joint manipulator; nonlinear behaviours; nonlinear control; Amplitude modulation; Art; Chaos; Control nonlinearities; Control systems; Feedback control; Lyapunov method; Manipulator dynamics; Metalworking machines; Orbital robotics;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1996., Proceedings of the 35th IEEE Conference on

Conference_Location

Kobe

ISSN

0191-2216

Print_ISBN

0-7803-3590-2

Type

conf

DOI

10.1109/CDC.1996.572796

Filename

572796