Maneuver-based control of the 2-degrees of freedom underactuated manipulator in normal form coordinates
Maneuver-based control of the 2-degrees of freedom underactuated manipulator in normal form coordinates
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DOI：
10.1080/21642583.2014.984358
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发表时间：
2015-01
影响因子：
4.1
通讯作者：
Carsten Knoll;K. Röbenack
中科院分区：
文献类型：
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作者：
Carsten Knoll;K. Röbenack
在这篇文章中，我们提供了一种建设性的方法，将通用拉格朗日机械控制系统转换为众所周知的伯恩斯-伊西多里范式。然后，我们将自己限制在水平面上的欠驱动二关节机械手。该系统不符合布罗克特条件，因此实现点对点控制是一项具有挑战性的任务。该系统以规范形式坐标进行分析，这允许设计从属滑模控制器并识别三个离散对称性。使用这些初步步骤，最终提出了一种用于平衡过渡的基于机动的控制方案。因此，每个动作对应于在法式坐标中定义的合适的滑动表面。
In this contribution, we provide a constructive way to transform a generic Lagrangian mechanical control system into the well-known Byrnes–Isidori normal form. Then, we restrict ourselves to the underactuated two-joint-manipulator in the horizontal plane. That system fails Brocketts condition and thus achieving point-to-point control is a challenging task. The system is analyzed in normal form coordinates, which allows to design a subordinate sliding mode controller and identify three discrete symmetries. Using these preliminary steps, finally a maneuver-based control scheme is proposed for equilibrium transition. Thereby each maneuver corresponds to a suitable sliding surface defined in normal form coordinates.