Control of Underactuated Manipulators with Uncertain Static Friction
In this paper the control of 2R underactuated planar manipulator with uncertain static friction is considered. The control process is divided into two phases. In the first phase, terminal sliding mode control is used to stabilize the passive joint to the desired position in finite time; during this phase the motion of the active joint is regarded as mechanical disturbance. In the second phase, the dynamic equation of the active joint becomes a linear equation with a limited control input and a parameter containing the uncertain static friction of the passive joint. A two-dimension fuzzy controller, the domain of which is dynamically adjusted, is applied to stabilize the active joint to the desired position, while the passive joint remains at its desired position all the time. The simulation results indicate that the control scheme proposed in this paper is valid.
underactuated manipulators uncertain static friction terminal sliding mode fuzzy control
Mingjun Li Baoli Ma
The Seventh Research Division, Beihang University, Beijing 100191, China
国际会议
The 22nd China Control and Decision Conference(2010年中国控制与决策会议)
徐州
英文
676-679
2010-05-26（万方平台首次上网日期，不代表论文的发表时间）