期刊
INTERNATIONAL JOURNAL OF NON-LINEAR MECHANICS
卷 77, 期 -, 页码 299-306出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.ijnonlinmec.2015.09.002
关键词
Underactuated mechanical systems; Torque-coupled; Lyapunov function; Nonlinear control
类别
资金
- National Natural Science Foundation of China [61304023, 61273012]
- Project of Shandong Province Higher Educational Science and Technology Program [J12LI58]
- Scientific Research Foundation for Doctor of Linyi University [LYDX2014BS002]
- Applied Mathematics Enhancement Program of Linyi University
In this paper, we use an underactuated four-link gymnast robot (UFGR) with a passive first joint to model a gymnast on the bar, and consider the stabilization of the UFGR at the straight-up position. First, we introduce a coupled relationship between control torques for the UFGR. It decouples some state variables of the UFGR from others and changes the nonlinear UFGR system into a cascade-connected system. And then, we use an energy-based method to design a stabilizing controller for the zero dynamics of the cascade-connected system. And the triangle lemma guarantees the control objective of the UFGR to be achieved. The torque-coupled method transforms the stabilization of an underactuated four-link manipulator into that of an underactuated two-link acrobot. This makes the structure of the control system simple. Moreover, our proposed control strategy is easy to extend to the stabilization control of other multi-input nonlinear underactuated systems. Simulation results using the characteristics parameters of a gymnast demonstrate the validity of the proposed method. (C) 2015 Elsevier Ltd. All rights reserved.
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