Nonlinear Control of the Underactuated Two-Link Manipulator Using the Sliding-Mode Type Partial Linearization Method

摘要

In this paper,a control method for an underactuated two-link manipulator is proposed.This manipulator is a two-degree-of-freedom system with single actuator at the joint of two links.In the proposed method,using the sliding-mode type partial linearization method which has a robustness for input disturbance,sub-controllers for two state variables based on angle of each link are designed.The control input is consisted of two sub-input by regarding each sub-input as input disturbances each other.Numerical simulation is performed to show the effectiveness of the proposed method.