Nonlinear Dynamics Analysis and Global Stabilization of Underactuated Horizontal Spring-Coupled Two-Link Manipulator. (16th March 2020)

• Record Type: Journal Article
• Authors: Zhang, Ancai; She, Jinhua; Li, Zhenxing; Pang, Guochen; Liu, Zhi; Qiu, Jianlong
• Other Names: Alexandridis Alex Academic Editor.
• Is Part Of: Complexity. Volume 2020(2020)
• Publication Date: 2020-03-16
• Subjects: Chaotic behavior in systems -- Periodicals; Complexity (Philosophy) -- Periodicals; 003
• DOI: 10.1155/2020/9096073
• Languages: English
• ISSNs: 1076-2787

Abstract

Abstract : An underactuated horizontal spring-coupled two-link manipulator (UHSTM) is a nonlinear system that has one actuator and two degrees of freedom (DOF). This paper analyzes the nonlinear dynamics and develops a new global stabilization control method for this 2-DOF underactuated system. First, a set of suitable state variables are constructed to change the UHSTM system into a cascade nonlinear system. Second, a Lyapunov function is constructed based on the structural characteristics of the cascade system. A control law is designed to ensure the closed-loop control system to be Lyapunov stable. After that, the global asymptotical stability conditions are derived from the analysis of the closed-loop control system. Finally, numerical examples demonstrate the validity of the theoretical analysis results.