Nonlinear optimal position control design for 2-link RR-robot manipulator

Author

Khan, Bilal ; Arif, Jawad ; Riaz, Shah

Author_Institution

Autom. Control & Syst. Engg, Univ. of Sheffield, Sheffield, UK

fYear

2010

fDate

18-19 Oct. 2010

Firstpage

100

Lastpage

105

Abstract

A novel approach is used here to design a nonlinear optimal position control for 2-link RR-robot manipulator by representing the class of nonlinear system into the sequence of linear time varying systems. The solution of linear sequences converge to nonlinear one is based on the local Lipchitz conditions at any compact time. The recursive approximation theory is incorporated with the classical control design technique to compute the optimal position control which is generated from the approximate sequence of linear time varying systems. A case study is presented to demonstrate the effectiveness of proposed scheme for the regulation and servo control of 2-link robot manipulator. Also, it is extended to n-link RR-robot manipulator - the simulation results for 3-link RR-robot manipulator regulation is demonstrated.

Keywords

manipulators; nonlinear control systems; position control; linear time varying system; nonlinear optimal position control design; nonlinear system; recursive approximation theory; robot manipulator; Approximation methods; Manipulator dynamics; Nonlinear systems; Optimal control; Regulators; 2-link RR-robot; Nonlinear Optimal Control; approximated sequence of linear time varying systems; robot manipulator;

fLanguage

English

Publisher

ieee

Conference_Titel

Emerging Technologies (ICET), 2010 6th International Conference on

Conference_Location

Islamabad

Print_ISBN

978-1-4244-8057-9

Type

conf

DOI

10.1109/ICET.2010.5638374

Filename

5638374