Nonlinear Global Stabilization Control for the Underactuated WAcrobot System

Abstract EN

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.