论文信息 - Variable structure control applied to underactuated robots

Variable structure control applied to underactuated robots

Variable structure control is applied to an underactuated two and three-link robot. Control laws are developed to invert the robot from its stable, downward equilibrium position to an inverted position. This maneuver is accomplished by pumping energy into the system with the variable structure controller. A linear balancing controller is activated once the robot nears the inverted position. Numerical simulations are presented for both the two and three-link robot.

[1] Weiping Li,et al. Applied Nonlinear Control , 1991 .

[2] Mahmut Reyhanoglu,et al. Attitude stabilization of a rigid spacecraft using two control torques: A nonlinear control approach based on the spacecraft attitude dynamics , 1994, Autom..

[3] Yangsheng Xu,et al. Robust control of underactuated manipulators: analysis and implementation , 1994, Proceedings of IEEE International Conference on Systems, Man and Cybernetics.

[4] Mark W. Spong,et al. Partial feedback linearization of underactuated mechanical systems , 1994, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94).

[5] Degang Chen,et al. Control of free-flying underactuated space manipulators to equilibrium manifolds , 1993, IEEE Trans. Robotics Autom..

[6] Christopher I. Byrnes,et al. On the attitude stabilization of rigid spacecraft , 1991, Autom..

[7] Mark W. Spong,et al. The swing up control problem for the Acrobot , 1995 .

[8] Mark W. Spong,et al. Robot dynamics and control , 1989 .

[9] Victoria Coverstone-Carroll,et al. Detumbling and reorienting underactuated rigid spacecraft , 1996 .

[10] Chi-Tsong Chen,et al. Linear System Theory and Design , 1995 .

[11] Abhinandan Jain,et al. An analysis of the kinematics and dynamics of underactuated manipulators , 1993, IEEE Trans. Robotics Autom..