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Lejun Wang, Xuzhi Lai, Qingxin Meng

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    Summary
    This summary is machine-generated.

    This study introduces a novel trajectory optimization control method for a three-link vertical underactuated manipulator (TVUM). The method effectively swings up and stabilizes the manipulator

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    Area of Science:

    • Robotics
    • Control Systems Engineering

    Background:

    • Underactuated manipulators present significant control challenges, particularly in achieving swing-up and stabilization.
    • Existing control strategies for three-link vertical underactuated manipulators (TVUM) often lack effectiveness in reaching desired equilibrium points.

    Purpose of the Study:

    • To develop an effective control method for swinging up and stabilizing a TVUM endpoint.
    • To address the limitations of current control strategies for underactuated systems.

    Main Methods:

    • Trajectory optimization planning for the actuated link with a two-segment continuous trajectory.
    • Intelligent optimization algorithms to ensure state continuity for underactuated links.
    • Sliding-mode control for trajectory tracking and Linear-Quadratic Regulator (LQR) for stabilization.

    Main Results:

    • Successfully swung up the manipulator endpoint from the straight-down equilibrium point (SDEP) to the straight-up equilibrium point (SUEP).
    • Achieved stable endpoint control at the SUEP.
    • Demonstrated superior control performance compared to existing methods through simulations.

    Conclusions:

    • The proposed trajectory optimization-based control method is effective for swing-up and stabilization of TVUMs.
    • The integrated approach of trajectory optimization, sliding-mode control, and LQR offers a robust solution for underactuated manipulator control.