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Case Study #6: Robotic Manipulator Control Design

  • Chapter
Book cover Nonlinear Power Flow Control Design

Part of the book series: Understanding Complex Systems ((UCS))

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Abstract

Chapter 11 presents the design of nonlinear controllers for a two-link robot based on Hamiltonian Surface Shaping and Power Flow Control (HSSPFC). HSSPFC is demonstrated to be an extension of controlled Lagrangians, energy-balancing, and energy-shaping by developing necessary and sufficient conditions for stability of a class of nonlinear systems, Hamiltonian natural systems, based on the recognition that the Hamiltonian is stored exergy. The nonlinear dynamic stability constraint is shown to be equivalent to the Melnikov number for heteroclinic orbits. HSSPFC is used to design nonlinear regulator and tracking controllers with defined stability boundaries including limit cycles. Also, the minimum energy state controller of energy-balancing is demonstrated to be a maximum entropy state controller based on HSSPFC. Numerical simulations are presented for the tracking controller design.

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Authors and Affiliations

  1. Sandia National Laboratories, PO Box 5800, Albuquerque, NM, 87185, USA

    Dr. Rush D. Robinett III & Dr. David G. Wilson

Authors
  1. Dr. Rush D. Robinett III
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  2. Dr. David G. Wilson
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Correspondence to David G. Wilson .

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Robinett, R.D., Wilson, D.G. (2011). Case Study #6: Robotic Manipulator Control Design. In: Nonlinear Power Flow Control Design. Understanding Complex Systems. Springer, London. https://doi.org/10.1007/978-0-85729-823-2_11

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