Nonlinear Global Stabilization Control for the Underactuated WAcrobot System

Shuli Gong, Ancai Zhang, Zhi Liu, Zhenxing Li, Chengdong Yang and Xinghui Zhang

Mathematical Problems in Engineering, 2020, vol. 2020, 1-8

Abstract:

A WAcrobot is an underactuated nonlinear system that has three degrees of freedom (DOF) and two inputs. This paper discusses the global stabilization control problem for this 3-DOF underactuated system. A new control strategy is developed to solve this problem. The strategy first changes the 3-DOF WAcrobot system to be a 2-DOF reduced-order model in finite time. This transforms the stabilizing control of the WAcrobot system into that of the reduced-order model. After that, nonsingular control laws that globally stabilize the reduced-order model at the origin are designed. It guarantees the stabilizing control objective of the WAcrobot to be achieved. Finally, a simulation experimental example demonstrates the validity of the presented theoretical results. Simulation results show the advantage of our strategy over others.

Date: 2020
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:3920535

DOI: 10.1155/2020/3920535

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