Comparison of control algorithms for a nonholonomic underactuated 2-DOF robot

摘要

Summary form only given as follows. We present experimental results of several control algorithms for a nonholonomic underactuated 2-DOF robot. The first joint of the robot consists of a DD-motor whereas the second joint has no actuator but a holding brake. We derive a control law using non-collocated linearization for the uncertain parameter case and apply PD, LQG and VS controllers. In experiments the different control laws are quantitatively compared. An intelligent brake algorithm is presented.