DocumentCode
2189956
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
Volume
3
fYear
2001
fDate
2001
Firstpage
2424
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location
Orlando, FL
Print_ISBN
0-7803-7061-9
Type
conf
DOI
10.1109/.2001.980626
Filename
980626
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