Control Design and Analysis for Underactuated Robotic by Xin Xin, Yannian Liu PDF

By Xin Xin, Yannian Liu

The final 20 years have witnessed enormous growth within the examine of underactuated robot structures (URSs). Control layout and research for Underactuated Robotic Systems provides a unified therapy of keep an eye on layout and research for a category of URSs, which come with platforms with multiple-degree-of-freedom and/or with underactuation measure . It offers novel notions, gains, layout suggestions and strictly worldwide movement research effects for those platforms. those new fabrics are proven to be very important in learning the keep watch over layout and balance research of URSs.

Control layout and research for Underactuated robot Systems comprises the modelling, keep watch over layout and research provided in a scientific manner quite for the subsequent examples:

l at once and remotely pushed Acrobots

l Pendubot

l rotational pendulum

l counter-weighted Acrobot

2-link underactuated robotic with versatile elbow joint

l variable-length pendulum

l 3-link gymnastic robotic with passive first joint

l n-link planar robotic with passive first joint

l n-link planar robotic with passive unmarried joint

double, or parallel pendulums on a cart

l 3-link planar robots with underactuation measure two

2-link loose flying robot

The theoretical advancements are established via experimental effects for the remotely pushed Acrobot and the rotational pendulum.

Control layout and research for Underactuated Robotic Systems is meant for complex undergraduate and graduate scholars and researchers within the quarter of keep an eye on structures, mechanical and robotics structures, nonlinear platforms and oscillation. this article is going to not just permit the reader to realize a greater knowing of the ability and basic boundaries of linear and nonlinear keep an eye on concept for the keep an eye on layout and research for those URSs, but in addition motivate the reader to handle the demanding situations of extra complicated URSs.

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30]. , it can change stability, disappear, or split into many equilibrium points. The equilibrium point x = 0 is a saddle only if it is hyperbolic and unstable. In practice, one often has to consider non-hyperbolic equilibrium points with all eigenvalues having negative or zero real parts, that is, Re λi ≤ 0 for all i with Re λi = 0 for some i, linearization fails to determine the stability of the equilibrium 26 2 Fundamental Background point. This equilibrium point is referred to as being critical.

The results obtained in this chapter show theoretically the effectiveness of swinging up the two pendulums by the shaping the energy of two pendulums. A part of this work has been published in [104, 106]. Chapter 14 investigates a challenging problem for analyzing the energy-based swing-up control of the double pendulum on a cart (which has three degrees of freedom and only one control input) with the control objective of controlling the total mechanical energy of the system, the velocity and displacement of the cart.

This posture control problem is tackled by solving the problem of stabilizing the origin of a system obtained via an appropriate coordinate transformation. This chapter presents an acceleration-based control scheme which globally asymptotically stabilizes the origin of the system by using the backstepping approach. It provides numerical simulations to validate the presented theoretical results. A part of this work has been published in [102, 114]. 1 Lyapunov Stability Theory Stability theory plays an important role in systems theory and engineering.

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