Simulation study on control concepts for a floating platform manipulation

Abstract

This thesis presents a novel configuration: a wire-suspended floating platform, which can be used to impart the mobility to the robotic manipulators. Due to the underactuation nature, the fully feedback linearization controller can not be applied. In order to address this problem, classical partial feedback control with computed torque control is firstly revisited and its limitation is also stated. The asymptotically stable requirement for internal dynamics motivates the new control strategy, which extends the partial feedback linearization with the (asymptotic) stabilization of internal dynamics. In order to achieve this, the reference acceleration will be reformulated as a function of both internal and output variables, so that the output and internal dynamics can be both controlled via virtual spring damper connection with varying damping value. Furthermore a different coordinate in terms of the center of mass of the entire system with a similar procedure is also presented. The proposed scheme is verified by the simulation studies.