Comprehensive Stable Control Strategy for a Typical Underactuated Manipulator Considering Several Uncertainties

Comprehensive Stable Control Strategy for a Typical Underactuated Manipulator Considering Several Uncertainties

This article proposes a comprehensive stable control strategy for the planar multi-link underactuated manipulator (PMLUM), considering several uncertainties. According to the nilpotent approximation property, the control procedure is split into two stages. In the first stage of control, we postulate...

Full description

Bibliographic Details
Main Authors: Zixin Huang, Wei Wang, Ba Zeng, Chengsong Yu, Yaosheng Zhou
Format: Article
Language:English
Published: MDPI AG 2024-04-01
Series:Applied Sciences
Subjects:
underactuated manipulator
position control
model degradation
iterative control
planar virtual Pendubot
Online Access:https://www.mdpi.com/2076-3417/14/9/3663

Internet

https://www.mdpi.com/2076-3417/14/9/3663

Similar Items