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| Field | Value |
| Title | Discontinuous feedback control of A 3 link planar PPR underactuated manipulator |
| Names |
MAHINDRAKAR, AD
BANAVAR, RN REYHANOGLU, M |
| Date Issued | 2001 (iso8601) |
| Abstract | 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. |
| Genre | Proceedings Paper |
| Topic | Acrobot |
| Identifier | PROCEEDINGS OF THE 40TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5,2424-2429 |