Nonlinear Global Stabilization Control for the Underactuated WAcrobot System. (3rd July 2020)

• Record Type: Journal Article
• Authors: Gong, Shuli; Zhang, Ancai; Liu, Zhi; Li, Zhenxing; Yang, Chengdong; Zhang, Xinghui
• Other Names: Zhao Ping Guest Editor.
• Is Part Of: Mathematical problems in engineering. Volume 2020(2020)
• Publication Date: 2020-07-03
• Subjects: Engineering mathematics -- Periodicals; 510.2462
• DOI: 10.1155/2020/3920535
• Languages: English
• ISSNs: 1024-123X

Abstract

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.