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Nonlinear Global Stabilization Control for the Underactuated WAcrobot System

Author

Listed:
  • Shuli Gong
  • Ancai Zhang
  • Zhi Liu
  • Zhenxing Li
  • Chengdong Yang
  • Xinghui Zhang

Abstract

A WAcrobot is an underactuated nonlinear system that has three degrees of freedom (DOF) and two inputs. This paper discusses the global stabilization control problem for this 3-DOF underactuated system. A new control strategy is developed to solve this problem. The strategy first changes the 3-DOF WAcrobot system to be a 2-DOF reduced-order model in finite time. This transforms the stabilizing control of the WAcrobot system into that of the reduced-order model. After that, nonsingular control laws that globally stabilize the reduced-order model at the origin are designed. It guarantees the stabilizing control objective of the WAcrobot to be achieved. Finally, a simulation experimental example demonstrates the validity of the presented theoretical results. Simulation results show the advantage of our strategy over others.

Suggested Citation

  • Shuli Gong & Ancai Zhang & Zhi Liu & Zhenxing Li & Chengdong Yang & Xinghui Zhang, 2020. "Nonlinear Global Stabilization Control for the Underactuated WAcrobot System," Mathematical Problems in Engineering, Hindawi, vol. 2020, pages 1-8, July.
    • Handle: RePEc:hin:jnlmpe:3920535
    DOI: 10.1155/2020/3920535
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