Stabilization of underactuated four-link gymnast robot using torque-coupled method
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- 作者：Ancai Zhanga ; zhangancai123@hotmail.com" class="auth_mail" title="E-mail the corresponding author ; Jianlong Qiub ; d ; qiujianlong@lyu.edu.cn" class="auth_mail" title="E-mail the corresponding author ; Chengdong Yangc ; yangchengdong2008@163.com" class="auth_mail" title="E-mail the corresponding author ; Haibo Hed ; he@ele.uri.edu" class="auth_mail" title="E-mail the corresponding author
- 关键词：Underactuated mechanical systems ; Torque-coupled ; Lyapunov function ; Nonlinear control
- 刊名：International Journal of Non-Linear Mechanics
- 出版年：2015
- 出版时间：December 2015
- 年：2015
- 卷：77
- 期：Complete
- 页码：299-306
- 全文大小：737 K
文摘
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A coupled relationship between control toques is constructed for an underactuated four-link gymnast robot (UFGR). It changes the nonlinear UFGR system into a cascade-connected system.
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We transform the stabilization of the UFGR into that of an underactuated two-link acrobot.
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An energy-based stabilizing controller is designed for the two-link acrobot.
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The structure of the proposed control system is simple. And our proposed strategy is easy to extend to the stabilization control of n-DOF (n>4) underactuated manipulator.
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