Research on the Motion Control for the Under-actuated Mechanical Systems

DOI

10.2991/icismme-15.2015.392How to use a DOI?

Keywords

Motion Control; Under Actuated Mechanical Systems; Sliding Control

Abstract

This control of nonholonomic under actuated systems is an important field in nonlinear control. This thesis uses the example of an acrobat to illustrate the intelligent control of such systems. The acrobat is a two-link manipulator operating in a vertical plane. It consists of one joint each at the shoulder and elbow with a single actuator at the elbow. The control objective is to swing it up from a stable downward equilibrium position to the unstable straight-up equilibrium position and balance it there. To solve problems with controlling the Ac-robot, this thesis proposes intelligent control methods based on fuzzy control, variable structure control and LQR control.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Zhigang Sun
PY  - 2015/07
DA  - 2015/07
TI  - Research on the Motion Control for the Under-actuated Mechanical Systems
BT  - Proceedings of the First International Conference on Information Sciences, Machinery, Materials and Energy
PB  - Atlantis Press
SP  - 1913
EP  - 1916
SN  - 1951-6851
UR  - https://doi.org/10.2991/icismme-15.2015.392
DO  - 10.2991/icismme-15.2015.392
ID  - Sun2015/07
ER  -