Variable structure control applied to underactuated robots

Authors:
Kangsik Lee;Sheri Coates;Victoria Coverstone-Carroll
Affiliations:
Department of Aeronautical and Astronautical Engineering, University of Illinois at Urbana-Champaign, 305A Talbot Laboratory, Urbana IL 61801, USA. E-mail: vcc@uiuc.edu;Department of Aeronautical and Astronautical Engineering, University of Illinois at Urbana-Champaign, 305A Talbot Laboratory, Urbana IL 61801, USA. E-mail: vcc@uiuc.edu;Department of Aeronautical and Astronautical Engineering, University of Illinois at Urbana-Champaign, 305A Talbot Laboratory, Urbana IL 61801, USA. E-mail: vcc@uiuc.edu
Venue:
Robotica
Year:
1997

Citing 4
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Abstract

Variable structure control is applied to an underactuated two and three-link robot. Control laws are developed to invert the robot from its stable, downward equilibrium position to an inverted position. This maneuver is accomplished by pumping energy into the system with the variable structure controller. A linear balancing controller is activated once the robot nears the inverted position. Numerical simulations are presented for both the two and three-link robot.