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Study On Two New Control Method Of Underactuated Robot

Posted on:2011-02-14Degree:MasterType:Thesis
Country:ChinaCandidate:L L LiuFull Text:PDF
GTID:2178360302994738Subject:Navigation, Guidance and Control
Abstract/Summary:PDF Full Text Request
Underactuated robot is a kind of robot with one or more underactuated joint which can be called passive joint or free joint. The major character is that the dimension of input space is less than dimension of output space. The constraint of the system is acceleration unintegrable. It is called second order nonholonomic constraint. The control of underactuated robot system becomes much more difficult than full-actuated robot system. This class of system has many merit such as light weight, low cost, low energy, more compact structure and more degree of dexterity, because of reducing several drivers. So it is benefit to research the method of control problem,and it becomes one of the major topics of the field of robotics.The problem of position control is studied in this paper,and the results of my work are as follow:Based on Lagrgange mechanics,the mathematical model of two-link underactuated robot is studied. The T-S model of underactuated robot system is established. Combining with non-fragile control theory, guaranteed cost control theory and H_∞control theory, The non-fragile guaranteed cost H_∞position controller of underactuated robot based on T-S model is discussed. The controller guarantees the robust stability of the closed-loop system, and the upper bound of quadratic performance index, satisfies the non-fragililty and the H_∞disturbance attenuation level. The simulation results show that the controller is validity .Based on Lagrgange mechanics,the mathematical model of three-link underactuated robot is studied .Combining with the theory of finite-time control, the theory of neural network control and the theory of adaptive control, a finite-time neural network adaptive position controller of underactuated robot system is provided. The controller firstly approach uncertain part of model by RBF net, then the weights of neural network is regulated by adaptive method, so the controller has strong robustness. The simulation results show that the controller is validity.
Keywords/Search Tags:underactuated robots, finite-time control, neural network adaptive control, T-S model, non-fragile guaranteed cost control, H_∞control
PDF Full Text Request
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