Robust Global Stabilization of the Underactuated 2-DOf Manipulator R2D1
نویسندگان
چکیده
In this papera switching control strategy for robust stabilization of the 2nd-order non-holonornic 2-DOF SCARA robot Ft21)l is presented. The Ist joint is actuated by a direct drive motor, whereas the 2nd joint is equipped with a brake. The unactuated 2nd joint is controlled by non-collocated linearization and a PDcontroller. A stability region is den”ued and robustness is achieved by exploiting the contractile character of the perturbed stability region. The proposed switching control strategy assures global and robust position control of the 2nd joint. Experimental results confirm the efficiency of the proposed approach.
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