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Nonlinear Dynamics Analysis and Global Stabilization of Underactuated Horizontal Spring-Coupled Two-Link Manipulator

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  • Ancai Zhang
  • Jinhua She
  • Zhenxing Li
  • Guochen Pang
  • Zhi Liu
  • Jianlong Qiu

Abstract

An underactuated horizontal spring-coupled two-link manipulator (UHSTM) is a nonlinear system that has one actuator and two degrees of freedom (DOF). This paper analyzes the nonlinear dynamics and develops a new global stabilization control method for this 2-DOF underactuated system. First, a set of suitable state variables are constructed to change the UHSTM system into a cascade nonlinear system. Second, a Lyapunov function is constructed based on the structural characteristics of the cascade system. A control law is designed to ensure the closed-loop control system to be Lyapunov stable. After that, the global asymptotical stability conditions are derived from the analysis of the closed-loop control system. Finally, numerical examples demonstrate the validity of the theoretical analysis results.

Suggested Citation

  • Ancai Zhang & Jinhua She & Zhenxing Li & Guochen Pang & Zhi Liu & Jianlong Qiu, 2020. "Nonlinear Dynamics Analysis and Global Stabilization of Underactuated Horizontal Spring-Coupled Two-Link Manipulator," Complexity, Hindawi, vol. 2020, pages 1-8, March.
    • Handle: RePEc:hin:complx:9096073
    DOI: 10.1155/2020/9096073
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