Abstract
This paper presents a position control strategy for a planar active-passive-active (APA) underactuated manipulator with second-order nonholonomic characteristics. According to the structural characteristics of the planar APA system, we divide the system into two parts: a planar virtual Pendubot (PVP) and a planar virtual Acrobot (PVA). For the PVP, we mainly fulfill the target angle of the first link, which is calculated through the geometry method, and make the system stable. In this stage, via keeping the states of the third link being zero, the system is reduced to the PVP. Meanwhile, we design an open-loop control law based on the nilpotent approximation (NA) model of the PVP to make the second link stable and the first link stabilize at its target angle. Then, the planar APA system is reduced to a PVA with all links’ angular velocities being zero. For the PVA, we mainly realize the other two links’ target angles obtained via the particle swarm optimization (PSO) algorithm. Thus, the control objective of the planar APA system is achieved. Finally, above control strategy is verified by simulation results.
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Recommended by Aldo Jonathan Munoz-Vazquez under the direction of Editor Won-jong Kim. This work is supported by the National Natural Science Foundation of China under Grant 61773353, the Hubei Provincial Natural Science Foundation of China under Grant 2015CFA010, and the 111 project under Grant B17040.
Zixin Huang received his B.S. and M.S. degrees in engineering from Wuhan Textile University, Wuhan, China, in 2013 and 2016, respectively. He is currently pursuing a Ph.D. degree at the School of Automation, China University of Geosciences, Wuhan, China. His current research interests include robot control, nonlinear system control, and intelligent control.
Xuzhi Lai received her B.S., M.S., and Ph.D. degrees in engineering from Central South University, Changsha, China, in 1988, 1991, and 2001, respectively. From 1991 to 2014, she was a Faculty Member of the School of Information Science and Engineering, Central South University, as a Full Professor in 2004. From 1998 to 1999, she was a Visiting Scholar with the Department of Mechatronics, School of Engineering, Tokyo University of Technology, Tokyo, Japan. From 2004 to 2006, she was a Visiting Scholar with the Department of Mechanical and Engineering, University of Toronto, Toronto, ON, Canada, and with the School of Engineering, University of Guelph, Guelph, ON, Canada. In 2014, she moved to the China University of Geosciences, Wuhan, China, where she is currently a Professor with the School of Automation. Her current research interests include intelligent control, robot control, and nonlinear system control.
Pan Zhang received her B.S. degree in engineering from China University of Geosciences, Wuhan, China, in 2015, where she is currently pursuing a Ph.D. degree in control science and engineering with the School of Automation. Since October 2018, she has been a Research Intern with the Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, QC, Canada. Her current research interests include nonlinear system control and intelligent control.
Yawu Wang received his B.S. and M.S. degrees in engineering from Hubei University of Technology,Wuhan, China, in 2012 and 2015, respectively. He received his Ph.D. degree in engineering from China University of Geosciences, Wuhan, China, in 2018. He is currently an Associate Professor in the School of Automation, China University of Geosciences, Wuhan, China. His main research interest is robot control and intelligent control.
Min Wu received his B.S. and M.S. degrees in engineering from Central South University, Changsha, China, in 1983 and 1986, respectively, and a Ph.D. degree in engineering from the Tokyo Institute of Technology, Tokyo, Japan, in 1999. He was a Faculty Member at the School of Information Science and Engineering, Central South University, from 1986 to 2014, and became a Professor in 1994. In 2014, he joined the China University of Geosciences, Wuhan, China, where he is currently a Professor at the School of Automation. He was a Visiting Scholar with the Department of Electrical Engineering, Tohoku University, Sendai, Japan, from 1989 to 1990, and a Visiting Research Scholar with the Department of Control and Systems Engineering, Tokyo Institute of Technology, from 1996 to 1999. He was a Visiting Professor at the School of Mechanical, Materials, Manufacturing Engineering and Management, University of Nottingham, Nottingham, U.K., from 2001 to 2002. His current research interests include process control, robust control, and intelligent systems. Dr. Wu is a Fellow of IEEE and a Fellow of the Chinese Association of Automation. He was a corecipient of the International Federation of Automatic Control Control Engineering Practice Prize Paper Award in 1999 (together with M. Nakano and J. She).
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Huang, Z., Lai, X., Zhang, P. et al. Virtual Model Reduction-based Control Strategy of Planar Three-link Underactuated Manipulator with Middle Passive Joint. Int. J. Control Autom. Syst. 19, 29–39 (2021). https://doi.org/10.1007/s12555-019-0904-9
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DOI: https://doi.org/10.1007/s12555-019-0904-9