Nonlinear Control of an Underactuated Two-Link Manipulator

Nonlinear Control of an Underactuated Two-Link Manipulator

Approximate feedback linearization is applied to the control of an underactuated nonlinear systems. A computational method to determine the order of linearization and construction of the required nonlinear state and control transformations is presented. This approach is applied to an underactuated t...

Ausführliche Beschreibung

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Bibliographische Detailangaben
1. Verfasser: Bedrossian, Nazareth S.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Control design
Control systems
Control theory
Laboratories
Linear approximation
Linear feedback control systems
Linear systems
Nonlinear control systems
Nonlinear systems
System testing
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Beschreibung
Zusammenfassung:Approximate feedback linearization is applied to the control of an underactuated nonlinear systems. A computational method to determine the order of linearization and construction of the required nonlinear state and control transformations is presented. This approach is applied to an underactuated two-link planar manipulator. Simulation results show that the nonlinear design improves the operating range of the linear controller.
DOI:10.23919/ACC.1993.4793280