Plane under-actuated mechanical arm position control method based on fuzzy control and lyapunov functions

The embodiment of the invention discloses a plane under-actuated mechanical arm position control method based on fuzzy control and lyapunov functions. The method comprises the following steps that establishing a plane three-degree-of-freedom passive-active-active (PAA) under-actuated mechanical arm dynamics model, and analyzing integral constraint relation among joint angles and angular velocity of the under-actuated mechanical arm dynamics model; analyzing reachable space of the of the under-actuated mechanical arm dynamics model, calculating a target angle of each driving joint by utilizinga particle swarm algorithm; designing a sectional position control law based on the fuzzy control and the lyapunov function, designing a fuzzy controller in the first stage to enable a second joint toreach a target angle, and designing the lyapunov function to keep a third joint in an initial state; and designing a fuzzy controller in a second stage to enable the third joint to reach a target angle, and designing a lyapun