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

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

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...

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Bibliographic Details
Main Authors: Ancai Zhang, Lu Fan, Shuli Gong, Guangyuan Pan, Yinghua Wu
Format: Article
Language:English
Published: MDPI AG 2022-05-01
Series:Mathematics
Subjects:
underactuated manipulator
stabilization control
virtual friction
Lyapunov function
LaSalle’s invariance principle
Online Access:https://www.mdpi.com/2227-7390/10/11/1832

Internet

https://www.mdpi.com/2227-7390/10/11/1832

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