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Nonlinear Dynamics Analysis and Global Stabilization of Underactuated Horizontal Spring-Coupled Two-Link Manipulator
Joint Authors
She, Jinhua
Li, Zhenxing
Pang, Guochen
Liu, Zhi
Zhang, Ancai
Qiu, Jianlong
Source
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-8, 8 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-03-16
Country of Publication
Egypt
No. of Pages
8
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Zhang, Ancai& She, Jinhua& Li, Zhenxing& Pang, Guochen& Liu, Zhi& Qiu, Jianlong. 2020. Nonlinear Dynamics Analysis and Global Stabilization of Underactuated Horizontal Spring-Coupled Two-Link Manipulator. Complexity،Vol. 2020, no. 2020, pp.1-8.
https://search.emarefa.net/detail/BIM-1145400
Modern Language Association (MLA)
Zhang, Ancai…[et al.]. Nonlinear Dynamics Analysis and Global Stabilization of Underactuated Horizontal Spring-Coupled Two-Link Manipulator. Complexity No. 2020 (2020), pp.1-8.
https://search.emarefa.net/detail/BIM-1145400
American Medical Association (AMA)
Zhang, Ancai& She, Jinhua& Li, Zhenxing& Pang, Guochen& Liu, Zhi& Qiu, Jianlong. Nonlinear Dynamics Analysis and Global Stabilization of Underactuated Horizontal Spring-Coupled Two-Link Manipulator. Complexity. 2020. Vol. 2020, no. 2020, pp.1-8.
https://search.emarefa.net/detail/BIM-1145400
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1145400