2009 Fiscal Year Final Research Report
Development of New Nonlinear Control Theory for Underactuated Mechanical Systems with Its Application to Robot Control
| Project/Area Number |
19560452
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Control engineering
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| Research Institution | Okayama Prefectural University |
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Principal Investigator |
XIN Xin Okayama Prefectural University, 情報工学部, 教授 (70293040)
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| Co-Investigator(Kenkyū-buntansha) |
KANEDA Masahiro 岡山県立大学, 情報工学部, 教授 (50033238)
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| Project Period (FY) |
2007 – 2009
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| Keywords | ロボット / 非線形制御 / 劣駆動システム / エネルギー制御法 / 安定性解析 / 多自由度システム / 振り上げ制御 / 運動解析 |
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| Research Abstract |
This research concerns a swing-up control problem for an n-link revolute planar robot with any one of the joints being a passive joint. The goal of this study is to design and analyze a swing-up controller that can bring the robot into any small neighborhood of the upright equilibrium point with all links in the upright position. First, we address how to iteratively devise two series of virtual composite links separated by the passive joint to be used for designing a coordinate transformation on the angles of all active joints. Second, we devise an energy based swing-up controller that uses a new Lyapunov function based on that transformation. Third, we analyze the global motion of the robot under the controller and establish conditions on control parameters that ensure attainment of the swing-up control objective. The results obtained not only unify some previous results for some underactuated robots with a passive first joint, but also provide insight into the energy-based control of underactuated multi-degree-of-freedom systems.
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[Journal Article] Swing-up Control Based on Virtual Composite Links for n-Link, Underactuated Robot with Passive First2009
Author(s)
Xin, X., She, J.H., Yamaski, T., Liu, Y.N.
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Journal Title
Joint, Automatica vol.45,no.9
Pages: 1986-1994
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