NDLI: A simple and quick control strategy for a class of first-order nonholonomic manipulator

Content Provider	Springer Nature Link
Author	Lai, Xu Zhi Wang, Ya Wu Cao, Jun Qing Wu, Min
Copyright Year	2016
Abstract	This paper presents a simple and quick control strategy for a class of first-order nonholonomic manipulator: planar n-link manipulator with a passive first joint (no gravity). The control target is driving its endpoint from any initial position to any target position. First, we reduce the planar n-link manipulator to a planar three-link one by maintaining the states (angles and angular velocities) of n-3 active links in the initial value all the time. That is, we only adjust the states of the remaining two active links in the whole control process, and these two adjusted active links are chosen to guarantee that the target position is in the reachable region of the planar n-link manipulator by using the enumeration method. Then, we divide the whole control process into two stages for the reduced planar three-link manipulator. In each stage, the manipulator becomes a planar two-link one by maintaining the states of one adjusted active link to be the constant value. The state constraint existing between the passive first link and the adjusted active link is obtained by using the integral characteristics of a planar two-link manipulator. Meantime, the geometric constraint between the position of the endpoint and angles of all joints is obtained based on the homogeneous coordinate transformation method. According to the above two kinds of constraint, the target angles of the two adjusted active links are calculated by employing the particle swarm optimization algorithm. When the two adjusted active links are controlled to their target angles in turn, the control target of the planar n-link manipulator is completed. Finally, simulation results demonstrate that the proposed control strategy is valid and rapid.
Starting Page	2261
Ending Page	2276
Page Count	16
File Format	PDF
ISSN	0924090X
Journal	Nonlinear Dynamics
Volume Number	85
Issue Number	4
e-ISSN	1573269X
Language	English
Publisher	Springer Netherlands
Publisher Date	2016-05-11
Publisher Place	Dordrecht
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Underactuated manipulator Nonholonomic constraint Enumeration method Particle swarm optimization algorithm Lyapunov function Vibration, Dynamical Systems, Control Mechanics Mechanical Engineering Automotive Engineering
Content Type	Text
Resource Type	Article
Subject	Ocean Engineering Applied Mathematics Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Aerospace Engineering

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