DocumentCode
2918360
Title
Application of exact linearization method to robot control
Author
Minh, Phan Xuan ; Nguyen, Thai Huu
Author_Institution
Hanoi Univ. of Technol., Hanoi
fYear
2008
fDate
17-20 Dec. 2008
Firstpage
2237
Lastpage
2243
Abstract
This article presents a method of designing non-linear feedback controller which both compensates non-linear character of two degree of freedom robot to become equivalent linear plant and implement direct channel separation thereby easily apply linear theory to design state feedback controller.
Keywords
control system synthesis; linearisation techniques; nonlinear control systems; robots; state feedback; exact linearization method; linear theory; nonlinear feedback controller; robot control; state feedback controller; Automatic control; Educational robots; Kinetic theory; Linear feedback control systems; Robot control; Robot vision systems; Robotics and automation; State feedback; State-space methods; Symmetric matrices; exact linearization; robot control;
fLanguage
English
Publisher
ieee
Conference_Titel
Control, Automation, Robotics and Vision, 2008. ICARCV 2008. 10th International Conference on
Conference_Location
Hanoi
Print_ISBN
978-1-4244-2286-9
Electronic_ISBN
978-1-4244-2287-6
Type
conf
DOI
10.1109/ICARCV.2008.4795880
Filename
4795880
Link To Document