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Discontinuous feedback control of A 3 link planar PPR underactuated manipulator

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Title Discontinuous feedback control of A 3 link planar PPR underactuated manipulator
 
Creator MAHINDRAKAR, AD
BANAVAR, RN
REYHANOGLU, M
 
Subject acrobot
underactuated
planar manipulator
discontinuous feedback
chain system
 
Description In this paper we consider the synthesis of a point-to-point control law for a three degrees of freedom planar PPR underactuated manipulator moving in a horizontal plane. We apply the results of [1] where a discontinuous feedback controller construction for a special class of underactuated systems is presented. By using a coordinate transformation provided by [2] we transform the system into chained form which makes it suitable for the application of the discontinuous control law. Simulation results are presented that demonstrate the effectiveness of the controller.
 
Publisher IEEE
 
Date 2011-10-25T08:29:44Z
2011-12-15T09:11:45Z
2011-10-25T08:29:44Z
2011-12-15T09:11:45Z
2001
 
Type Proceedings Paper
 
Identifier PROCEEDINGS OF THE 40TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5,2424-2429
0-7803-7061-9
0191-2216
http://dspace.library.iitb.ac.in/xmlui/handle/10054/15659
http://hdl.handle.net/100/2260
 
Source 40th IEEE Conference on Decision and Control,ORLANDO, FL,DEC 04-07, 2001
 
Language English