Two-Stage Switching Hybrid Control Method Based on Improved PSO for Planar Three-Link Under-Actuated Manipulator

Two-Stage Switching Hybrid Control Method Based on Improved PSO for Planar Three-Link Under-Actuated Manipulator

The planar three-link passive-active-active (PAA) under-actuated manipulator does not satisfy the small-time local controllability (STLC), which makes it more difficult to control than other planar under-actuated manipulators. This paper presents a two-stage switching hybrid control method based on...

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Bibliographic Details
Main Authors: Xin Gao, Zeyu Ren, Lin Zhai, Qingxuan Jia, Huihe Liu
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
The planar three-link passive-active-active (PAA) under-actuated manipulator
the improved particle swarm optimization (PSO)
hybrid control method
Lyapunov direct method
sliding mode control
Online Access:https://ieeexplore.ieee.org/document/8734053/

Internet

https://ieeexplore.ieee.org/document/8734053/

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