Nonlinear Dynamics Analysis and Global Stabilization of Underactuated Horizontal Spring-Coupled Two-Link Manipulator

An underactuated horizontal spring-coupled two-link manipulator (UHSTM) is a nonlinear system that has one actuator and two degrees of freedom (DOF). This paper analyzes the nonlinear dynamics and develops a new global stabilization control method for this 2-DOF underactuated system. First, a set of...

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Bibliographic Details
Published inComplexity (New York, N.Y.) Vol. 2020; no. 2020; pp. 1 - 8
Main Authors Liu, Zhi, Pang, Guochen, Li, Zhenxing, She, Jinhua, Zhang, Ancai, Qiu, Jianlong
Format Journal Article
LanguageEnglish
Published Cairo, Egypt Hindawi Publishing Corporation 2020
Hindawi
Hindawi Limited
Wiley
Subjects
Actuators
Analysis
Control equipment
Control stability
Control systems
Control theory
Degrees of freedom
Design
Dynamical systems
Liapunov functions
Manipulators
Nonlinear analysis
Nonlinear dynamics
Nonlinear systems
Stability analysis
State variable
Variables
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Summary:An underactuated horizontal spring-coupled two-link manipulator (UHSTM) is a nonlinear system that has one actuator and two degrees of freedom (DOF). This paper analyzes the nonlinear dynamics and develops a new global stabilization control method for this 2-DOF underactuated system. First, a set of suitable state variables are constructed to change the UHSTM system into a cascade nonlinear system. Second, a Lyapunov function is constructed based on the structural characteristics of the cascade system. A control law is designed to ensure the closed-loop control system to be Lyapunov stable. After that, the global asymptotical stability conditions are derived from the analysis of the closed-loop control system. Finally, numerical examples demonstrate the validity of the theoretical analysis results.
ISSN:1076-2787
1099-0526
DOI:10.1155/2020/9096073