Nonlinear dynamics analysis and global stabilization of underactuated horizontal spring-coupled two-link manipulator

DOI10.1155/2020/9096073MaRDI QIDQ2173756zbMATH OpenOpenAlexFDO

Authors Ancai Zhang, Zhenxing Li, Guochen Pang, Zhi Liu, Jianlong Qiu, Jinhua She

Publication date 17 April 2020

Published in Complexity (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2020/9096073

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20)

Review text

Summary: An underactuated horizontal spring-coupled two-link manipulator (UHSTM) is a nonlinear system that has one actuator and two degrees of freedom (DOF). This paper analyzes the nonlinear dynamics and develops a new global stabilization control method for this 2-DOF underactuated system. First, a set of suitable state variables are constructed to change the UHSTM system into a cascade nonlinear system. Second, a Lyapunov function is constructed based on the structural characteristics of the cascade system. A control law is designed to ensure the closed-loop control system to be Lyapunov stable. After that, the global asymptotical stability conditions are derived from the analysis of the closed-loop control system. Finally, numerical examples demonstrate the validity of the theoretical analysis results.

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Cites work

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Cited in

(4)

• Nonlinear stabilizing control for a class of underactuated mechanical systems with multi degree of freedoms
• Global stabilization of underactuated spring-coupled three-link horizontal manipulator using position measurements only
• Comprehensive Unified Control Strategy and Global Stability Analysis for Underactuated Two-link Manipulators
• Nonlinear global stabilization control for the underactuated WAcrobot system

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