LAUSR

This article proposes a comprehensive stable control strategy for the planar multi-link underactuated manipulator (PMLUM), considering several uncertainties. According to the nilpotent approximation property, the control procedure is split into two stages. In the first stage of control, we postulate the idea of model degradation, reducing the PMLUM to a planar virtual Pendubot (PVP). This occurs by controlling the active link (AL) to a specific desired position and the passive link (PL) moves along with it. When the AL moves to the desired position, the second phase of control is entered. Meanwhile, all ALs are regarded as a whole, so the PMLUM can be regarded as a mechanical arm with 2-DOF. In the second stage of control, due to the nilpotent approximation feature of the PVP, the PVP is guided to the desired angle using the iterative steering technique. Simulation experiments are carried out on active–active–passive (AAP) and active–active–active–passive (AAAP) systems under major uncertainties, which contain initial velocity and torque disturbances. The final results validate the effectiveness of the method proposed.