Modeling and Steady Holding Strategy of a Climbing Robot
- 10.2991/eame-17.2017.76How to use a DOI?
- model reference adaptive control; multi-DOF underactuated mechanism; lyapunov stability theory; spring- coupling
Underactuated mechanism is a nonlinear system which dimension of input is less than one of state. There are still some problems to be explorations in underactuated mechanism control, especially in ones with multi-DOF. The model reference adaptive control is proposed to solve the control problem of a novel underactuated spring-coupling mechanism with multi-DOF in this paper. Firstly, dynamics model is established and linearized. Then, an adjustable gain adaptive controller based on Lyapunov stability theory is presented. Finally, simulations are presented to illustrate the superior performance of the proposed method through theoretical analysis and design. The results show that the stability, accuracy and rapid response are fine, and the adaptive steady holding problem of multi-DOF underactuated mechanism is solved.
- © 2017, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Fuhua Wang AU - Yuwang Liu AU - Liangshuai Guo PY - 2017/04 DA - 2017/04 TI - Modeling and Steady Holding Strategy of a Climbing Robot BT - Proceedings of the 2017 2nd International Conference on Electrical, Automation and Mechanical Engineering (EAME 2017) PB - Atlantis Press SP - 321 EP - 325 SN - 2352-5401 UR - https://doi.org/10.2991/eame-17.2017.76 DO - 10.2991/eame-17.2017.76 ID - Wang2017/04 ER -