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Nonlinear Global Stabilization Control for the Underactuated WAcrobot System

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A WAcrobot is an underactuated nonlinear system that has three degrees of freedom (DOF) and two inputs. This paper discusses the global stabilization control problem for this 3-DOF underactuated system.… Click to show full abstract

A WAcrobot is an underactuated nonlinear system that has three degrees of freedom (DOF) and two inputs. This paper discusses the global stabilization control problem for this 3-DOF underactuated system. A new control strategy is developed to solve this problem. The strategy first changes the 3-DOF WAcrobot system to be a 2-DOF reduced-order model in finite time. This transforms the stabilizing control of the WAcrobot system into that of the reduced-order model. After that, nonsingular control laws that globally stabilize the reduced-order model at the origin are designed. It guarantees the stabilizing control objective of the WAcrobot to be achieved. Finally, a simulation experimental example demonstrates the validity of the presented theoretical results. Simulation results show the advantage of our strategy over others.

Keywords: wacrobot system; system; control; stabilization control; global stabilization

Journal Title: Mathematical Problems in Engineering
Year Published: 2020

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