Almost-global tracking of the unactuated joint in a pendubot
Systems and Control
2017-11-09 v3
Abstract
Tracking the unactuated configuration variable in an underactuated system, in a global sense, has not received much attention. Here we present a scheme to do so for a pendubot - a two link robot actuated only at the first link. We propose a control law for almost-global asymptotic tracking (AGAT) of a smooth reference trajectory for the unactuated second joint of the pendubot. The control law achieves almost-global tracking for any smooth reference trajectory specified for the unactuated joint. Further, we generalize the proposed scheme to an n-link system with as many (or more) degrees of actuation than unactuation, and show that the result holds.
Cite
@article{arxiv.1710.10379,
title = {Almost-global tracking of the unactuated joint in a pendubot},
author = {Aradhana Nayak and Ravi N. Banavar},
journal= {arXiv preprint arXiv:1710.10379},
year = {2017}
}