Nonlinear control of a nonholonomic free joint manipulator with the averaging method

Takahiro Suzuki, Yoshihiko Nakamura

Research output: Chapter in Book/Report/Conference proceedingChapter

17 Citations (Scopus)

Abstract

There were some works on dynamical nonholonomic systems, but few works on a control method generally applied to these systems. In our previous work, we analyzed nonlinear behaviours of a 2DOF free-joint manipulator with a periodic input and developed a positioning of the both joints by modulating the amplitude of the input. The strategy was effective but very heuristic and cannot be applied to the other systems. In this paper, we apply the averaging method to the system and derive its behaviour from the averaged system. We also discuss its feedback control and design a feedback stabilization to a desired manifold. Even though its concept is the same as in [1], the control strategy is analytically constructed. The feedback control is designed by a Lyapunov function for the averaged system and it is also effective for the real system.

Original languageEnglish
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Editors Anon
Pages1694-1699
Number of pages6
Publication statusPublished - 1996 Dec 1
Externally publishedYes
EventProceedings of the 35th IEEE Conference on Decision and Control. Part 4 (of 4) - Kobe, Jpn
Duration: 1996 Dec 111996 Dec 13

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume2
ISSN (Print)0191-2216

Other

OtherProceedings of the 35th IEEE Conference on Decision and Control. Part 4 (of 4)
CityKobe, Jpn
Period96/12/1196/12/13

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

Fingerprint

Dive into the research topics of 'Nonlinear control of a nonholonomic free joint manipulator with the averaging method'. Together they form a unique fingerprint.

Cite this