Abstract
Variable structure control is applied to an underactuated two and three-link robot. Control laws are developed to invert the robot from its stable, downward equilibrium position to an inverted position. This maneuver is accomplished by pumping energy into the system with the variable structure controller. A linear balancing controller is activated once the robot nears the inverted position. Numerical simulations are presented for both the two and three-link robot.
Original language | English (US) |
---|---|
Pages (from-to) | 313-318 |
Number of pages | 6 |
Journal | Robotica |
Volume | 15 |
Issue number | 3 |
DOIs | |
State | Published - 1997 |
Keywords
- Robots
- Underactuated robots
- Variable structure control
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computational Mechanics
- General Mathematics
- Modeling and Simulation
- Rehabilitation
- Mechanical Engineering
- Computer Vision and Pattern Recognition
- Computer Science Applications
- Control and Optimization
- Artificial Intelligence