Switching Control of Planar PPR Underactuated Robot with External Interference and Non-Zero Initial Velocity
Source abstract
Abstract
Planar underactuated robots are mainly applied in the microgravity field, such as deep sea and deep space. The system modeling and stability control of planar underactuated robots are prerequisites to ensure successful task completion. The planar prismatic–prismatic–rotational (PPR) underactuated robot is one type of planar underactuated robot structure. In this paper, the dynamic system model of planar PPR underactuated robots is built, and the switching-control strategy is designed. In the first phase, an improved PD controller based on the linkage coupling of the PPR model is designed to adjust the state quantities of the three linkages and stabilize the first two linkages to the target state. This controller has certain robustness and rapidity. In the second phase, the PPR model is downgraded to the PR model, an open-loop iterative controller is designed, and the third underactuated link is stabilized to the target state through oscillation convergence. Finally, the effectiveness and applicability of the proposed strategy were verified through the comparison of setting torque interference and the simulation of the initial velocity of the link.
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Research context
OpenAlex topics: Adaptive Control of Nonlinear Systems · Control and Dynamics of Mobile Robots · Dynamics and Control of Mechanical Systems
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
School of Electrical and Information Engineering, Wuhan Institute of Technology, Wuhan 430205, China
Yunnan Key Laboratory of Unmanned Autonomous Systems, Yunnan Minzu University, Kunming 650504, China
Fujian Key Laboratory of Special Intelligent Equipment Safety Measurement and Control, Fujian Special Equipment Inspection and Research Institute, Fuzhou 350008, China
School of Mechanical & Electrical Engineering, Wuhan Institute of Technology, Wuhan 430205, China
Funding
Nature Science Foundation of Hubei Province · the Foundation of Yunnan Key Laboratory of Unmanned Autonomous Systems · the Open Project Program of Fujian Key Laboratory of Special Intelligent Equipment Measurement and Control, Fujian Special Equipment Inspection and Research Institute · the Open Research Project of Fujian Provincial University Applied Technology Engineering Center for Textile and Garment Science and Technology and Culture in 2024
References (32)
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