Nonlinear Control of the Underactuated Two-Link Manipulator Using the Sliding-Mode Type Partial Linearization Method

摘要：

In this paper,a control method for an underactuated two-link manipulator is proposed.This manipulator is a two-degree-of-freedom system with single actuator at the joint of two links.In the proposed method,using the sliding-mode type partial linearization method which has a robustness for input disturbance,sub-controllers for two state variables based on angle of each link are designed.The control input is consisted of two sub-input by regarding each sub-input as input disturbances each other.Numerical simulation is performed to show the effectiveness of the proposed method.

关键词： Underactuated systems Partial linearization method Underactuated two-link manipulator.

作者: Tomohiro Henmi Mingcong Deng Akira Inoue

作者单位: Department of Electro-Mechanical EngineeringTakamatsu National College of Technology335 Chokushicho, Division of Industrial Innovation Sciences,Graduate School of Natural Science and Technology,Okayama Division of Industrial Innovation Sciences,Graduate School of Natural Science and Technology,Okayama

会议类型: 国际会议

会议名称: International Conference on Modelling,Identification and Control(模拟、鉴定、控制国际会议)

会议地点: 上海

会议语种:英文

在线出版日期: 2008-06-29（万方平台首次上网日期，不代表论文的发表时间）