Modeling and Steady Holding Strategy of a Climbing Robot

DOI

10.2991/eame-17.2017.76How to use a DOI?

Keywords

model reference adaptive control; multi-DOF underactuated mechanism; lyapunov stability theory; spring- coupling

Abstract

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.

Copyright

© 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/).

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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  -