Control of Two Degree of Freedom Underactuated Systems

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Rahmati, Rahman | 2015

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 47999 (05)
University: Sharif University of Technology
Department: Electrical Engineering
Advisor(s): Namvar, Mehrzad
Abstract:
In robotic, Underactuated systems are interesting subject to study. Underactuated system, is a system that have fewer actuator than degrees of freedom. Underactuated systems are composed of active and passive joints. passive joints are existed, in order to decrease the weight, cost, and energy consumption. Usually, control of these systems are difficult. Underactuated systems have acceleration constraint. This property make the control method have fundamental constraint. So that controller dynamic could not be a smooth function of states of system. So most of standard method in control, such as feedback linearization, are not applicable. Local linearizing methods, because of uncontrollability of linearized system,neither are not applicable. In this thesis, first a method for transfer the system to normal form which has a cascade form, is presented. Then using of sliding mode control, equilibrium point of system will be stablized. The method will be implemented on a two degree of freedom planner robot with a passive joint called
Keywords:
Robot ; Control ; Underactuated System ; Two Degree of Freedom Controller