基于力矩变换的PAA型欠驱动机器人鲁棒镇定控制

doi:10.3969/j.issn.0255-8297.2016.06.014

Abstract

Abstract:

Robust stabilization control based on torque transform is proposed for an underactuated three-link manipulator, named a passive-active-active (PAA) robot. It is equipped with only two actuators on the second and third joints. A torque transform,as a function of control input of the second joint and state of the robot,is used for the control input of the third joint. The robot dynamics is transformed to a simpler form,where the influence of control input of the third joint is explicitly eliminated. An energy-based swingup control law is then designed. In the balancing area,an uncertain model is obtained by treating velocities of the first and second links around the unstable equilibrium as uncertainties. A robust stabilizing state feedback control law is derived to reach a large balancing region based on a technique of linear matrix inequality (LMI). Simulation results show that the proposed approach has advantages of short settling time and small control torques.

Key words: swing-up control, linear matrix inequality (LMI), underactuated manipulator, robust control

CLC Number:

TP24

PAN Chang-zhong, ZHOU Lan, ZHOU Shao-wu, XIAO Xiao-shi. Robust Stabilization Control of Underactuated PAA Robot Based on Torque Transformation[J]. Journal of Applied Sciences, 2016, 34(6): 789-798.

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Robust Stabilization Control of Underactuated PAA Robot Based on Torque Transformation

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