This book investigates in detail cutting-edge technologies of underactuated manipulator control, which is a frontier topic in robotics that possesses great significance in energy conservation as well as fault tolerance for industrial applications. It is also the crucial technology associated with systems in special environments, including underwater or aerospace environments. So far, the topic of underactuated manipulator control has attracted engineers and scientists from various disciplines, such as applied physics, material, automation and robotics. Pursuing a holistic approach, the book establishes a fundamental framework for this topic, while emphasizing the importance of design and optimization in the control of underactuated manipulators. Chapters of the book cover a wide variety of manipulator systems, including vertical underactuated manipulator, planar underactuated manipulator with first-order nonholonomic constraint, planar underactuated manipulator with second-order nonholonomic constraint and flexible underactuated manipulator. The book is intended for undergraduate and graduate students that are interested in underactuated manipulators, researchers that investigate the design and optimization for controllers of underactuated manipulators and engineers working with underactuated systems.
Author(s): Jundong Wu, Pan Zhang, Qingxin Meng, Yawu Wang
Publisher: Springer-Science Press
Year: 2023
Language: English
Pages: 303
City: Beijing
Preface
Contents
About the Authors
Acronyms, Notations, and Symbols
1 Introduction
1.1 Underactuated Manipulators
1.2 Characteristic Analysis
1.3 Control Method Design
1.3.1 Energy Based Control
1.3.2 Sliding Mode Control
1.3.3 Backstepping Control
1.3.4 Partial Feedback Linearization Control
1.3.5 Approximate Linearization Control
1.3.6 Model Reduction Control
1.4 Intelligent and Optimization Control
1.4.1 Fuzzy Control
1.4.2 Neural Network Control
1.4.3 Optimization-Based Control
1.5 Organization of This Book
References
2 Modeling and Characteristics Analysis of Underactuated Manipulators
2.1 Dynamic Modeling of Typical Underactuated Manipulators
2.1.1 The Inertia Wheel Pendulum Manipulator
2.1.2 Two-Link Underactuated Manipulator
2.1.3 Multi-link Underactuated Manipulator
2.1.4 Flexible Manipulator
2.2 Characteristics Analysis of Underactuated Mechanical System
2.2.1 Dynamics Analysis
2.2.2 Controllability Analysis
2.3 Conclusions
References
3 Control of Vertical Underactuated Manipulator
3.1 A Lyapunov-Based Unified Control Strategy
3.1.1 Dynamic Model
3.1.2 Control Strategy for the Swing-Up Area
3.1.3 Control Strategy for the Attractive Area
3.1.4 Local and Global Stability Analysis
3.1.5 Simulation Results
3.2 A Rewinding Approach-Based Control Strategy
3.2.1 Modeling and Analysis
3.2.2 Motion Planning
3.2.3 Trajectory Tracking Control
3.2.4 Simulation Results
3.3 Stable Control of Three-Link Underactuated Manipulators
3.3.1 Model and Division of Motion Space
3.3.2 Swing-Up Controller Design
3.3.3 Singularity Avoidance in Swing-Up Controller
3.3.4 Balance Controller Design
3.3.5 Simulation Results
3.4 Stable Control of n-Link Underactuated Manipulators
3.4.1 Dynamic Model and Analysis
3.4.2 Controller Design in Stage 1
3.4.3 Controller Design in Stage 2
3.4.4 Simulation Results
3.5 Conclusions
References
4 Control of Planar Underactuated Manipulator with a Passive First Joint
4.1 Motion-State Constraint Analysis
4.1.1 Integrability
4.1.2 Motion-State Constraint on Angular Velocities
4.1.3 Motion-State Constraint on Angles
4.2 Motion-State Constraint-Based Control of Planar Acrobot
4.2.1 Motion Characteristic Analysis
4.2.2 Motion Optimization
4.2.3 Controller Design
4.2.4 Simulation Results
4.3 Stable Control of Planar Three-Link PAA Manipulator
4.3.1 Motion Strategy of Angles to Target Values
4.3.2 PSO-Based Target Angle Optimization
4.3.3 Target Angle-Based Controllers Design
4.3.4 Simulation Results
4.4 Two-Stage Control of Planar n-Link (n>3) PAn-1 Manipulator
4.4.1 Controllers Design of Stage 1 for Model Reduction
4.4.2 Controllers Design of Stage 2
4.4.3 GA-PSO-Based Target Angle Optimization
4.4.4 Simulation Results
4.5 Intelligent Optimization-Based Continuous Control Method
4.5.1 Problem Formulation
4.5.2 Continuous Controller Design for Active Joints
4.5.3 Optimization of Design Parameters and Target Angles
4.5.4 Simulation Results
4.6 Nonlinear MPC-Based Robust Control Method
4.6.1 Problem Formulation
4.6.2 Control Idea
4.6.3 Nonlinear Model Predictive Control-Based Motion Planning
4.6.4 Fast Terminal Sliding Mode Controller Design
4.6.5 Simulation Results
4.7 Online Iterative Correction-Based Robust Control Method
4.7.1 Uncertain Model
4.7.2 Uncertain Planar Virtual PAA System
4.7.3 Controller Design for Model Reduction
4.7.4 Control of Planar Virtual PAA System
4.7.5 Online Iterative Correction
4.7.6 Simulation Results
4.8 Conclusions
References
5 Control of Planar Underactuated Manipulator with an Active First Joint
5.1 Fourier Transformation-Based Control Method for Planar Pendubot
5.1.1 Dynamic Model of Planar Pendubot
5.1.2 Controllers Design with Disturbance Observer
5.1.3 Simulation Results
5.2 Energy Attenuation Approach-Based Control Method …
5.2.1 Target Angles Calculation
5.2.2 Stable Control
5.2.3 Simulation Results
5.3 Chained Form-Based Control Method for Planar AAPA Manipulator
5.3.1 Model Reduction
5.3.2 Controllers Design for the Manipulator with Reduced Order
5.3.3 Simulation Results
5.4 A General Position Control Method for Planar Underactuated Manipulator
5.4.1 Dynamic Model and Control Scheme
5.4.2 Bi-Directional Motion Planning
5.4.3 Trajectory Tracking Controllers Design
5.4.4 Simulation Results
5.5 Conclusions
References
6 Control of Flexible Manipulator
6.1 Stable Control for Flexible-Joint Manipulator
6.1.1 EID Based Control Approach
6.1.2 Simulation Results
6.2 Trajectory Tracking Control for Flexible-Joint Manipulator
6.2.1 Uncertain System Model
6.2.2 Problem Formulation
6.2.3 Simulation Results
6.3 Stable Control for Flexible-Link Manipulator
6.3.1 Controller Design
6.3.2 FGA-Based Online Optimization
6.3.3 Simulation Results
6.4 Position Control with Zero Residual Vibration for Flexible-Link Manipulator
6.4.1 Problem Formulation
6.4.2 Motion Planning
6.4.3 Tracking Controller Design
6.4.4 Simulation Results
6.5 Position Control for Flexible-Joint Manipulator with a Passive Joint
6.5.1 Property Analysis
6.5.2 Energy-Based Controller Design
6.5.3 Simulation Results
6.6 Position Control for Flexible-Link Manipulator with a Passive Joint
6.6.1 Dynamic Coupling Analysis
6.6.2 Target Angles Solution
6.6.3 Controller Design for the Active Joint
6.6.4 Parameters Optimization
6.6.5 Simulation Results
6.7 Conclusions
References
Index
