Title :
Discontinuous feedback control of a 3 link planar PPR underactuated manipulator
Author :
Mahindrakar, Arun D. ; Banavar, R.N. ; Reyhanoglu, Mahmut
Author_Institution :
Indian Inst. of Technol., Mumbai, India
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 a discontinuous feedback controller construction derived for a special class of underactuated systems. By using a coordinate transformation, 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
Keywords :
control system synthesis; feedback; manipulators; 3-DOF planar PPR underactuated manipulator; 3-link planar PPR underactuated manipulator; chained form system; coordinate transformation; discontinuous feedback control; point-to-point control law synthesis; Actuators; Adaptive control; Control engineering; Control system synthesis; Control systems; Controllability; Equations; Feedback control; Gravity; Position control;
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
DOI :
10.1109/.2001.980626
