Control Design and Analysis for Underactuated Robotic by Xin Xin, Yannian Liu

By Xin Xin, Yannian Liu

The final twenty years have witnessed substantial development within the examine of underactuated robot platforms (URSs). Control layout and research for Underactuated Robotic Systems provides a unified therapy of regulate layout and research for a category of URSs, which come with structures with multiple-degree-of-freedom and/or with underactuation measure . It offers novel notions, gains, layout concepts and strictly worldwide movement research effects for those platforms. those new fabrics are proven to be very important in learning the keep watch over layout and balance research of URSs.

Control layout and research for Underactuated robot Systems comprises the modelling, regulate layout and research awarded in a scientific method really for the subsequent examples:

l without delay and remotely pushed Acrobots

l Pendubot

l rotational pendulum

l counter-weighted Acrobot

2-link underactuated robotic with versatile elbow joint

l variable-length pendulum

l 3-link gymnastic robotic with passive first joint

l n-link planar robotic with passive first joint

l n-link planar robotic with passive unmarried joint

double, or parallel pendulums on a cart

l 3-link planar robots with underactuation measure two

2-link unfastened flying robot

The theoretical advancements are established via experimental effects for the remotely pushed Acrobot and the rotational pendulum.

Control layout and research for Underactuated Robotic Systems is meant for complicated undergraduate and graduate scholars and researchers within the region of keep an eye on structures, mechanical and robotics structures, nonlinear platforms and oscillation. this article is going to not just allow the reader to realize a greater knowing of the ability and basic boundaries of linear and nonlinear regulate conception for the keep an eye on layout and research for those URSs, but additionally encourage the reader to deal with the demanding situations of extra advanced URSs.

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Extra resources for Control Design and Analysis for Underactuated Robotic Systems

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1) evaluated at x = 0. We have the following theorem. 9) is stable if and only if all eigenvalues of A satisfy Re λi ≤ 0 and for every eigenvalue with Re λi = 0 and algebraic multiplicity pi ≥ 2, rank(−λi I + A) = n − pi with I being an n × n identity matrix. The equilibrium point x = 0 is asymptotically stable if and only if all eigenvalues of A satisfy Re λi < 0. 1) shown in the following theorem. 1) where f : D → Rn is continuously differentiable and D is a neighborhood of the origin. 10). Then the following statements hold: (1) The origin is asymptotically stable if all eigenvalues of A are in the open lefthalf plane; (2) The origin is unstable if there exists at least one eigenvalue in the open righthalf plane.

1) and D ⊂ Rn be a domain containing x = 0. Let V : D → R be a continuously differentiable, radially unbounded (V (x) → ∞ as x → ∞), positive function such that V˙ (x) is negative definite for all x ∈ Rn . Let S = {x ∈ D|V˙ (x) = 0} and suppose no solution can stay identically in S, other than the trivial solution x(t) ≡ 0 holds identically for all time. Then, x = 0 is globally asymptotically stable. If the origin x = 0 is globally asymptotically stable, then it must be a unique equilibrium point of the system.

138). 4 Let a > b > 0 and a > c > 0 be constant. 134). 140) if b ≥ c, if b < c. 141) Proof First, from h2 (b, x, z) = b2 + x 2 + 2bx cos z = b2 sin2 z + (b cos z + x)2 ≥ b2 sin2 z, we obtain | sin z| ≤ h(b, x, z)/b. Similarly, we can show that | sin z| ≤ h(b, x, z)/x. 140). 140), we obtain r(x, z) ≤ v(x) = bx a − |b − x| min 1 1 , . b x If b ≥ c, then x ≤ b and v(x) = x(a − b + x) ≤ c(a − b + c). If b < c, we prove v(x) ≤ ab by considering 0 < x ≤ b and b < x ≤ c separately. When 0 < x ≤ b < c, we have v(x) = x(a − b + x) ≤ ab; and when b < x ≤ c, we have v(x) = b(a + b − x) < ab.

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