Homogeneous stabilization of an underactuated planar PPR manipulator

N.P.I. Aneke; D.A. Lizarraga; H. Nijmeijer; A.G. Jager, de

Homogeneous stabilization of an underactuated planar PPR manipulator

N.P.I. Aneke, D.A. Lizarraga, H. Nijmeijer, A.G. Jager, de

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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Abstract

A continuous time-varying feedback controller is presented for point stabilization of the second-order chained form system. The second-order chained form system can not be stabilized by means of continuous purestate feedback. Moreover, it can not be exponentially stabilized by means of smooth feedback since the linearization around any equilibrium point is uncontrollable. In this paper we provide a controller that globally ¿- exponentially stabilizes the system. The controller is derived by using a combined averaging technique for homogeneous systems and a backstepping approach. The controller is illustrated on a benchmark example of a second-order chained form system, namely an underactuated planar PPR manipulator.

Original language	English
Title of host publication	Mechatronics 2002 : 8th mechatronics forum international conference, University of Twente, The Netherlands, 24-26 June 2002 /
Editors	J. Amerongen, van
Place of Publication	Netherlands, Enschede
Pages	848-857
Publication status	Published - 2002

Cite this

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title = "Homogeneous stabilization of an underactuated planar PPR manipulator",

abstract = "A continuous time-varying feedback controller is presented for point stabilization of the second-order chained form system. The second-order chained form system can not be stabilized by means of continuous purestate feedback. Moreover, it can not be exponentially stabilized by means of smooth feedback since the linearization around any equilibrium point is uncontrollable. In this paper we provide a controller that globally ¿- exponentially stabilizes the system. The controller is derived by using a combined averaging technique for homogeneous systems and a backstepping approach. The controller is illustrated on a benchmark example of a second-order chained form system, namely an underactuated planar PPR manipulator.",

author = "N.P.I. Aneke and D.A. Lizarraga and H. Nijmeijer and {Jager, de}, A.G.",

year = "2002",

language = "English",

isbn = "90-365-1766-4",

pages = "848--857",

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Homogeneous stabilization of an underactuated planar PPR manipulator. / Aneke, N.P.I.; Lizarraga, D.A.; Nijmeijer, H. et al.
Mechatronics 2002 : 8th mechatronics forum international conference, University of Twente, The Netherlands, 24-26 June 2002 /. ed. / J. Amerongen, van. Netherlands, Enschede, 2002. p. 848-857.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Homogeneous stabilization of an underactuated planar PPR manipulator

AU - Aneke, N.P.I.

AU - Lizarraga, D.A.

AU - Nijmeijer, H.

AU - Jager, de, A.G.

PY - 2002

Y1 - 2002

N2 - A continuous time-varying feedback controller is presented for point stabilization of the second-order chained form system. The second-order chained form system can not be stabilized by means of continuous purestate feedback. Moreover, it can not be exponentially stabilized by means of smooth feedback since the linearization around any equilibrium point is uncontrollable. In this paper we provide a controller that globally ¿- exponentially stabilizes the system. The controller is derived by using a combined averaging technique for homogeneous systems and a backstepping approach. The controller is illustrated on a benchmark example of a second-order chained form system, namely an underactuated planar PPR manipulator.

AB - A continuous time-varying feedback controller is presented for point stabilization of the second-order chained form system. The second-order chained form system can not be stabilized by means of continuous purestate feedback. Moreover, it can not be exponentially stabilized by means of smooth feedback since the linearization around any equilibrium point is uncontrollable. In this paper we provide a controller that globally ¿- exponentially stabilizes the system. The controller is derived by using a combined averaging technique for homogeneous systems and a backstepping approach. The controller is illustrated on a benchmark example of a second-order chained form system, namely an underactuated planar PPR manipulator.

M3 - Conference contribution

SN - 90-365-1766-4

SP - 848

EP - 857

BT - Mechatronics 2002 : 8th mechatronics forum international conference, University of Twente, The Netherlands, 24-26 June 2002 /

A2 - Amerongen, van, J.

CY - Netherlands, Enschede

ER -

Homogeneous stabilization of an underactuated planar PPR manipulator

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