Discontinuous feedback control of A 3 link planar PPR underactuated manipulator

In this paper we consider the synthesis of a point-to-point control law for a three degrees of freedom planar PPR underactuated manipulator moving in a horizontal plane. We apply the results of [1] where a discontinuous feedback controller construction for a special class of underactuated systems is presented. By using a coordinate transformation provided by [2] we transform the system into chained form which makes it suitable for the application of the discontinuous control law. Simulation results are presented that demonstrate the effectiveness of the controller