Shubhobrata Rudra
ABSTRACT
This paper presents the formulation of a novel block-backstepping based control algorithm to address the control problem of the well-known nonlinear benchmark two-link planar robot (acrobot) system. For the convenience and compact design, first the state model of the two-link robot has been transformed into a block-strict feedback form. Then the control Lyapunov function has been designed for each cascaded dynamic block to derive the expression of the control input for the overall two-link system. The overall asymptotic stability of the robot system has been analyzed using Lyapunov stability criteria. Finally, the effectiveness of the proposed control algorithm has been verified in the simulation environment.
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Index Terms
- Design of Nonlinear State Feedback Control Law for Underactuated Two-Link Planar Robot: A Block Backstepping Approach
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