Nonlinear Dynamics Analysis and Global Stabilization of Underactuated Horizontal Spring-Coupled Two-Link Manipulator
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...
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2020/9096073 |
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| author | Ancai Zhang Jinhua She Zhenxing Li Guochen Pang Zhi Liu Jianlong Qiu |
| author_facet | Ancai Zhang Jinhua She Zhenxing Li Guochen Pang Zhi Liu Jianlong Qiu |
| author_sort | Ancai Zhang |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-3682c37512794d56b2158039eb9460ac |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-3682c37512794d56b2158039eb9460ac2025-02-03T01:04:15ZengWileyComplexity1076-27871099-05262020-01-01202010.1155/2020/90960739096073Nonlinear Dynamics Analysis and Global Stabilization of Underactuated Horizontal Spring-Coupled Two-Link ManipulatorAncai Zhang0Jinhua She1Zhenxing Li2Guochen Pang3Zhi Liu4Jianlong Qiu5School of Automation and Electrical Engineering, Linyi University—Key Laboratory of Complex Systems and Intelligent Computing in Universities of Shandong, Linyi, Shandong 276000, ChinaSchool of Engineering, Tokyo University of Technology, Hachioji, Tokyo 192-0982, JapanSchool of Automation and Electrical Engineering, Linyi University—Key Laboratory of Complex Systems and Intelligent Computing in Universities of Shandong, Linyi, Shandong 276000, ChinaSchool of Automation and Electrical Engineering, Linyi University—Key Laboratory of Complex Systems and Intelligent Computing in Universities of Shandong, Linyi, Shandong 276000, ChinaSchool of Automation and Electrical Engineering, Linyi University—Key Laboratory of Complex Systems and Intelligent Computing in Universities of Shandong, Linyi, Shandong 276000, ChinaSchool of Automation and Electrical Engineering, Linyi University—Key Laboratory of Complex Systems and Intelligent Computing in Universities of Shandong, Linyi, Shandong 276000, ChinaAn 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.http://dx.doi.org/10.1155/2020/9096073 |
| spellingShingle | Ancai Zhang Jinhua She Zhenxing Li Guochen Pang Zhi Liu Jianlong Qiu Nonlinear Dynamics Analysis and Global Stabilization of Underactuated Horizontal Spring-Coupled Two-Link Manipulator Complexity |
| title | Nonlinear Dynamics Analysis and Global Stabilization of Underactuated Horizontal Spring-Coupled Two-Link Manipulator |
| title_full | Nonlinear Dynamics Analysis and Global Stabilization of Underactuated Horizontal Spring-Coupled Two-Link Manipulator |
| title_fullStr | Nonlinear Dynamics Analysis and Global Stabilization of Underactuated Horizontal Spring-Coupled Two-Link Manipulator |
| title_full_unstemmed | Nonlinear Dynamics Analysis and Global Stabilization of Underactuated Horizontal Spring-Coupled Two-Link Manipulator |
| title_short | Nonlinear Dynamics Analysis and Global Stabilization of Underactuated Horizontal Spring-Coupled Two-Link Manipulator |
| title_sort | nonlinear dynamics analysis and global stabilization of underactuated horizontal spring coupled two link manipulator |
| url | http://dx.doi.org/10.1155/2020/9096073 |
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