Nonlinear Dynamics Analysis and Global Stabilization of Underactuated Horizontal Spring-Coupled Two-Link Manipulator

摘要

An underactuated horizontal spring-coupled two-link manipulator (UHSTM) is a nonlinear system that has one actuator and two degrees of freedom (DOF). This paper analyzes the nonlinear dynamics and develops a new global stabilization control method for this 2-DOF underactuated system. First, a set of suitable state variables are constructed to change the UHSTM system into a cascade nonlinear system. Second, a Lyapunov function is constructed based on the structural characteristics of the cascade system. A control law is designed to ensure the closed-loop control system to be Lyapunov stable. After that, the global asymptotical stability conditions are derived from the analysis of the closed-loop control system. Finally, numerical examples demonstrate the validity of the theoretical analysis results.