Stable control strategy for a second-order nonholonomic planar underactuated mechanical system

Xuzhi Lai, Peiyin Xiong and Min Wu

International Journal of Systems Science, 2019, vol. 50, issue 11, 2126-2141

Abstract: This paper presents a stable control strategy for a planar four-link active–passive–active–active (APAA) underactuated mechanical system. The control objective is to move its end-point from any initial position to any target position. First, the controllers are designed to move the first link to the target angle which ensures the target position is within the reachable area of the planar three-link passive–active–active (PAA) system. Meantime, the system is reduced to a planar virtual Pendubot. Then, the periodic controllers are designed based on the nilpotent approximation model to make the first link return to the target angle and all angular velocities converge to zeroes, where the fuzzy modulating is added to adjust the convergence of angular velocities. Thus, the system is reduced to a planar virtual PAA system. Next, the control is divided into two stages, and based on the angle constraint relationships, the target angles of the planar virtual PAA system for the target position are obtained by using the online particle swarm optimisation algorithm. Each stage controllers are designed according to the target angles, so the end-point of the planar APAA system is controlled to the target position. Finally, the validity of the control strategy is demonstrated via simulations.

Date: 2019
References: Add references at CitEc
Citations:

Downloads: (external link)
http://hdl.handle.net/10.1080/00207721.2019.1647304 (text/html)
Access to full text is restricted to subscribers.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:taf:tsysxx:v:50:y:2019:i:11:p:2126-2141

Ordering information: This journal article can be ordered from
http://www.tandfonline.com/pricing/journal/TSYS20

DOI: 10.1080/00207721.2019.1647304

Access Statistics for this article

International Journal of Systems Science is currently edited by Visakan Kadirkamanathan

More articles in International Journal of Systems Science from Taylor & Francis Journals
Bibliographic data for series maintained by Chris Longhurst ().