Position Control of a Planar Three-link Underactuated Mechanical System Based on Model Reduction
Author(s): SHENG Yang, LAI Xu-Zhi, WU Min
Pages: 1303-1310
Year: 2014 Issue: 7
Journal: Acta Automatica Sinica
Keyword: Planar under-actuated mechanical system; model reduction; position control; particle swarm optimization (PSO) algorithm; Lyapunov function;
Abstract: This paper presents a position control method based on model reduction for a planar three-link passive-active-active (PAA) under-actuated mechanical system with a passive first joint. Firstly, a mathematical model of the system is built, and its integral characteristic is analyzed. Next, the partially integrable three-link system is reduced to two completely integrable two-link systems by the method of piecewise degree reduction, and the state constraint relationships of the system between the active link and the passive link can be obtained based on the two subsystems. Then, the target angles of the active links are calculated by particle swarm optimization (PSO) algorithm according to the target position of the end of the system. Finally, the controllers of the two link subsystems are designed respectively to achieve the system control objective from any initial position to any target position. Simulation results demonstrate the validity of the proposed control method.
Pages: 1303-1310
Year: 2014 Issue: 7
Journal: Acta Automatica Sinica
Keyword: Planar under-actuated mechanical system; model reduction; position control; particle swarm optimization (PSO) algorithm; Lyapunov function;
Abstract: This paper presents a position control method based on model reduction for a planar three-link passive-active-active (PAA) under-actuated mechanical system with a passive first joint. Firstly, a mathematical model of the system is built, and its integral characteristic is analyzed. Next, the partially integrable three-link system is reduced to two completely integrable two-link systems by the method of piecewise degree reduction, and the state constraint relationships of the system between the active link and the passive link can be obtained based on the two subsystems. Then, the target angles of the active links are calculated by particle swarm optimization (PSO) algorithm according to the target position of the end of the system. Finally, the controllers of the two link subsystems are designed respectively to achieve the system control objective from any initial position to any target position. Simulation results demonstrate the validity of the proposed control method.
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