Single controller design based on integrated trajectory for three-link vertical underactuated manipulators with first active joint

DOI10.1080/00207179.2021.1998638MaRDI QIDQ6099352zbMATH OpenOpenAlexFDO

Authors Lejun Wang, Xuzhi Lai, Pan Zhang, Min Wu

Publication date 19 June 2023

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207179.2021.1998638

zbMATH Keywords

integrated trajectorylinear time-varying error systemsingle controller designthree-link vertical underactuated manipulator with first active joint

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• A general control strategy for planar 3-DoF underactuated manipulators with one passive joint
• Combined control with sliding mode and partial feedback linearization for 3D overhead cranes
• Energy based control of the Pendubot
• Global motion analysis of energy-based control for 3-link planar robot with a single actuator at the first joint
• scientific article; zbMATH DE number 3839814 (Why is no real title available?)
• Linear strong structural controllability and observability of an \(n\)-link underactuated revolute planar robot with active intermediate joint or joints
• Linear, time-varying approximations to nonlinear dynamical systems. With applications in control and optimization
• Motion planning and tracking control for an acrobot based on a rewinding approach
• Nonlinear stabilizing control for a class of underactuated mechanical systems with multi degree of freedoms
• Optimal Control of Underactuated Nonholonomic Mechanical Systems
• Set-point control for folded configuration of 3-link underactuated gymnastic planar robot: new results beyond the swing-up control
• Singularity-avoiding swing-up control for underactuated three-link gymnast robot using virtual coupling between control torques
• Sliding mode control design based on the state-dependent Riccati equation: theoretical and experimental implementation
• Strong Structural Controllability and the Multilink Inverted Pendulum

Cited in

(4)

• Swing-up control based on virtual composite links for \(n\)-link underactuated robot with passive first joint
• Global motion analysis of energy-based control for 3-link planar robot with a single actuator at the first joint
• A general control strategy for planar 3-DoF underactuated manipulators with one passive joint
• Dynamics test of underactuated manipulator based on combination inertial quasi-velocities and swing-up controller

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