A stable control for second-order nonholonomic planar underactuated mechanical system: energy attenuation approach

Xiong, Peiyin; Lai, Xuzhi

doi:10.1080/00207179.2017.1324639

Cited by 24 publications

(18 citation statements)

References 22 publications

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“…It is crucial to consider nonholonomy for the control of a subclass of URSs (e.g., using underactuated system for dexterous manipulation or mobile manipulators). Exploration into the non-integrity of nonholonomic constraints for development of controllable URSs is an important research direction and it has been attracting much attentions [151][152][153][154][155].…”

Section: Control Systems Of Urssmentioning

confidence: 99%

A survey on underactuated robotic systems: Bio-inspiration, trajectory planning and control

et al. 2020

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Section: Control Systems Of Urssmentioning

confidence: 99%

A survey on underactuated robotic systems: Bio-inspiration, trajectory planning and control

et al. 2020

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“…For planar APAA system, the control approach consisting of three stages is proposed and energy reduction strategy is used to solve control problem. 34 Firstly, the first active joint can be controlled to the target angle and the other active joints keep the initial states, meanwhile the second link angle converges to an intermediate value based on energy attenuation strategy. Hence, the planar APAA system is reduced to planar PAA system.…”

Section: Introductionmentioning

confidence: 99%

“…(1) Different from, 33 our method ensures that the end point can reach any position in the working area. (2) Compared with the three control stages method in Xiong et al, 34 the presented method just needs two control stages. (3) The presented method is also adaptive for the situation when the initial velocity is not zero.…”

Section: Introductionmentioning

confidence: 99%

A stable control method for planar robot with underactuated constraints via motion planning and intelligent optimization

Huang,

Li,

Wei

et al. 2023

Measurement and Control

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For the planar robot with underactuated constraints, a stable control method is presented on the foundation of motion planning method and intelligent optimization, which includes two stages. (1) Designing the controllers to control the actuated manipulators to given target states. (2) Planning the motion trajectory combined with the underactuated constraints between all links, using the intelligent algorithm to find the adaptable trajectory parameters, and tracking such planned trajectories to control full manipulators to the given states simultaneously. At last, multigroup simulations demonstrate the validity of the proposed method.

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“…In order to meet the diversified functions and complex operation, the research on the underactuated 1 School of Electrical and Information Engineering, Wuhan Institute of Technology, Wuhan, China 2 control strategy of multi-link robot is necessary. [17][18][19] The planar PAA robot belongs to first-order nonholonomic system with angular velocity constraints. Zhang et al 20 adapt a two-stages control method to solve the problem that the asymptotic stability of such robot at the target position.…”

Section: Introductionmentioning

confidence: 99%

Finite-time control strategy for swarm planar underactuated robots via motion planning and intelligent algorithm

Huang

Wei

Hou

et al. 2022

Measurement and Control

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The swarm planar underactuated robots have the ability to organize each robot to complete task in a finite time and the characteristics of ignoring gravity, energy saving, light weight, and so on. In this paper, we propose control strategy for such robot via motion planning and intelligent algorithm. First, we establish a unified dynamic model and analysis its underactuated characteristics. In order to enable all links to reach the target position smoothly in a finite time, a suitable trajectory is planned and parameters are optimized by the differential evolution algorithm (DEA). Then, the controllers are designed for each planar underactuated robot. Finally, the simulation results show that the proposed strategy is effective.

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A stable control for second-order nonholonomic planar underactuated mechanical system: energy attenuation approach

Cited by 24 publications

References 22 publications

A survey on underactuated robotic systems: Bio-inspiration, trajectory planning and control

A survey on underactuated robotic systems: Bio-inspiration, trajectory planning and control

A stable control method for planar robot with underactuated constraints via motion planning and intelligent optimization

Finite-time control strategy for swarm planar underactuated robots via motion planning and intelligent algorithm

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