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 a discontinuous feedback controller construction derived for a special class of underactuated systems. By using a coordinate transformation, 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.