NDLI: A tracking control method for a PPR Underactuated manipulator

Content Provider	IEEE Xplore Digital Library
Author	Li-Cheng Wu Guo-Sheng Yang Zeng-Qi Sun
Copyright Year	2010
Description	Author affiliation: State Key Laboratory of Intelligent Technology and System, Tsinghua University, Beijing, 100084, China (Zeng-Qi Sun) \|\| College of Information Engineering, Minzu University of China, Beijing, 100081, China (Li-Cheng Wu; Guo-Sheng Yang)
Abstract	A nonlinear output feedback controller is developed for an Underactuated manipulator in this paper. The PPR planar Underactuated manipulator consists of two active joints and one passive joint. The dynamic constraint on the free link is 2nd-order non-holonomic. Firstly, the motion equations are transformed into a special form using some global coordinate and input transformations. Secondly, a time-varying feedback controller is developed using Lyapunov's direct method and an extension of the current popular backstepping technique. The control method is able to force the end-effector of a three DOF planar underactuated manipulator to globally asymptotically track a reference trajectory. And the stability of the control method is proved. Simulation results are provided to demonstrate the effectiveness of the proposed control laws.
Starting Page	1255
Ending Page	1258
File Size	91279
Page Count	4
File Format	PDF
ISBN	9781424474530
e-ISBN	9788993215021
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-27
Publisher Place	Korea (South)
Access Restriction	Subscribed
Rights Holder	IEEE International Conference on Control & Automation
Subject Keyword	Automation Backstepping Dynamics Output-feedback Underactuated Manipulator Trajectory Mathematical model Planar PPR manipulator Tracking control Joints Manipulator dynamics Lyapunov direct method
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Augmented acceleration feedback control of parallel manipulators

Integrator backstepping control of a 5 DoF robot manipulator incorporating actuator dynamics

Output-feedback tracking control for a class of nonlinear non-minimum phase systems via backstepping method

Position control of a 2DOF underactuated planar flexible manipulator

Hierarchical fuzzy/Lyapunov control for horizontal plane trajectory tracking of underactuated AUV

Robust backstepping tracking control for mobile robots

Robust disturbance observer based sliding mode control of a planar parallel (3-PPR) manipulator

Design of Nonlinear State Feedback Control Law for Underactuated Two-Link Planar Robot: A Block Backstepping Approach

Trajectory Tracking Control for Robotics Manipulators Based on Passivity

A tracking control method for a PPR Underactuated manipulator

Similar Documents

Augmented acceleration feedback control of parallel manipulators

Integrator backstepping control of a 5 DoF robot manipulator incorporating actuator dynamics

Output-feedback tracking control for a class of nonlinear non-minimum phase systems via backstepping method

Position control of a 2DOF underactuated planar flexible manipulator

Hierarchical fuzzy/Lyapunov control for horizontal plane trajectory tracking of underactuated AUV

Robust backstepping tracking control for mobile robots

Robust disturbance observer based sliding mode control of a planar parallel (3-PPR) manipulator

Design of Nonlinear State Feedback Control Law for Underactuated Two-Link Planar Robot: A Block Backstepping Approach

Trajectory Tracking Control for Robotics Manipulators Based on Passivity

A tracking control method for a PPR Underactuated manipulator