Sliding Mode Control of an Underactuated Two-Link Manipulator |
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| Authors: | Carsten Knoll Klaus Röbenack |
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| Institution: | Institut für Regelungs- und Steuerungstheorie, Fakultät Elektrotechnik und Informationstechnik, Technische Universität Dresden, 01062 Dresden |
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| Abstract: | We consider a horizontally mounted two-link manipulator of which only the first joint is actuated and the friction in the second joint is neglected. As a consequence, predefined equilibrium points are difficult to reach and point-to-point control is a challenging task. Starting from a partially feedback linearized model, a transformation to Byrnes-Isidori normal form is presented. Based on this decomposition, the projection into a two-dimensional subspace reveals certain similarities to a double integrator. Modifying an existing sliding mode approach for that system, a control law which steers the manipulator to an equilibrium point can be deduced. (© 2010 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim) |
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