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Stabilization Control of Underactuated Spring-Coupled Three-Link Horizontal Manipulator Based on Energy Absorption Idea

Author

Listed:
  • Ancai Zhang

    (School of Electrical Engineering and Automation, Linyi University, Linyi 276000, China
    Key Laboratory of Complex Systems and Intelligent Computing in Universities of Shandong, Linyi 276000, China
    These authors contributed equally to this work.)

  • Lu Fan

    (School of Electrical Engineering and Automation, Linyi University, Linyi 276000, China
    These authors contributed equally to this work.)

  • Shuli Gong

    (Key Laboratory of Complex Systems and Intelligent Computing in Universities of Shandong, Linyi 276000, China
    School of Mathematics and Statistics, Linyi University, Linyi 276000, China
    These authors contributed equally to this work.)

  • Guangyuan Pan

    (School of Electrical Engineering and Automation, Linyi University, Linyi 276000, China
    Key Laboratory of Complex Systems and Intelligent Computing in Universities of Shandong, Linyi 276000, China
    These authors contributed equally to this work.)

  • Yinghua Wu

    (School of Electrical Engineering and Automation, Linyi University, Linyi 276000, China
    These authors contributed equally to this work.)

Abstract

A spring-coupled three-link horizontal manipulator (STHM) is an underactuated mechanical system that possesses two control inputs and three degrees of freedom (DOF). This paper discusses the stabilization control problem for this multi-DOF underactuated system. By using an energy-absorbing idea, we design two types of virtual friction controllers: PsD controller and PD controller. Additionally, the stability of the control system is analyzed based on Lyapunov theory and LaSalle’s invariance principle. The design of the stabilizing controller in this paper makes good use of the physical characteristics of the STHM system. The design process of the whole control system is simple. Numerical examples demonstrate the validity and superiority of our developed control strategy.

Suggested Citation

  • Ancai Zhang & Lu Fan & Shuli Gong & Guangyuan Pan & Yinghua Wu, 2022. "Stabilization Control of Underactuated Spring-Coupled Three-Link Horizontal Manipulator Based on Energy Absorption Idea," Mathematics, MDPI, vol. 10(11), pages 1-9, May.
    • Handle: RePEc:gam:jmathe:v:10:y:2022:i:11:p:1832-:d:824724
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