Title :
Robust Tracking Control of a Three-DOF Planar Under-actuated Manipulator
Author :
Wu, Licheng ; Liu, Shengping ; Lu, Zhen
Author_Institution :
Tsinghua Univ., Beijing
fDate :
May 30 2007-June 1 2007
Abstract :
A manipulator with free joints is a class of under-actuated mechanisms. Control of such systems is one of major topics in robotics and control engineering. In this paper, we develop a nonlinear feedback controller to force a three-dof planar under-actuated manipulator affected by smooth, bounded uncertainties to globally asymptotically track a reference trajectory. This under-actuated manipulator moving in a horizontal plane has two prismatic actuated joints and one revolute free joint. The control development is based on some coordinate transformations, Lyapunov´s direct method and popular integrator backstepping technique. Numerical simulations are presented that demonstrate the effectiveness of the controller.
Keywords :
Lyapunov methods; asymptotic stability; manipulators; nonlinear control systems; robust control; Lyapunov direct method; backstepping technique; nonlinear feedback controller; reference trajectory; robust tracking control; three-DOF planar under-actuated manipulator; under-actuated manipulator; Adaptive control; Control engineering; Control systems; Force control; Force feedback; Manipulators; Robot kinematics; Robust control; Trajectory; Uncertainty; Under-actuated manipulator; backstepping technique; robust control;
Conference_Titel :
Control and Automation, 2007. ICCA 2007. IEEE International Conference on
Conference_Location :
Guangzhou
Print_ISBN :
978-1-4244-0817-7
Electronic_ISBN :
978-1-4244-0818-4
DOI :
10.1109/ICCA.2007.4376508
