Nonlinear control of the underactuated two-link manipulator using the sliding-mode type partial linearisation 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 linearisation 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-inputs by regarding each sub-input as input disturbances for each other. Numerical simulation is performed to show the effectiveness of the proposed method.