Title: Nonlinear control of the underactuated two-link manipulator using the sliding-mode type partial linearisation method

Authors: Tomohiro Henmi; Mingcong Deng; Akira Inoue

Addresses: Department of Electro-Mechanical Engineering, Kagawa National College of Technology, 335 Chokushicho, Takamatsu 761-8058, Japan. ' Department of Electrical and Electronic Engineering, Tokyo University of Agriculture and Technology, 2-24-16 Nakacho, Koganei, Tokyo, Japan. ' Okayama University, 3-1-1 Tsushima, Okayama 700-8530, Japan

Abstract: In this paper, a control method for an underactuated two-link manipulator is proposed. This manipulator is a two-degree-of-freedom system with single actuator at the joint of two links. In the proposed method, using the sliding-mode type partial linearisation method which has a robustness for input disturbance, sub-controllers for two state variables based on angle of each link are designed. The control input is consisted of two sub-inputs by regarding each sub-input as input disturbances for each other. Numerical simulation is performed to show the effectiveness of the proposed method.

Keywords: underactuated systems; partial linearisation; underactuated two-link manipulators; manipulator control; robot control; nonlinear control; sliding mode control; simulation.

DOI: 10.1504/IJCAT.2011.042697

International Journal of Computer Applications in Technology, 2011 Vol.41 No.3/4, pp.230 - 235

Available online: 25 Sep 2011 *

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