Swing-up and Stabilization of Flexible Underactuated

Author:	Yabuno Hiroshi, University of Tsukuba, Japan
Topic:	2.3 Non-Linear Control Systems
Session:	Control of Underactuated Systems
Keywords:	robotics, manipulator, high frequency, nonlinear control,pitchfork bifurcation, parametric resonance, perturbed bifurcation

Abstract

A control method without state feedback of the free link is proposedfor swing-up and stabilization at the upright position of a flexible free linkin a two-link underactuated flexible manipulator(the active first and free second links are rigid and flexible,respectively).The proposed method is based on the actuation of bifurcationsproduced in the second link under high-frequency excitation of the first link. Experimental results show the validity of the proposed method of control for the flexible underactuated manipulator.