Trajectory tracking control of robot manipulators using discrete time-varying pole placement technique

For the trajectory tracking control problem of nonlinear systems, the most basic and classic strategy may be applying the linear control technique to a linear time-varying approximate model around some desired trajectory. However, this method is not commonly used because the design of a linear time-varying controller is not simple. The authors proposed the simple design method of the pole placement controller for linear time-varying discrete systems. In this paper, to show the applicability of the proposed linear time-varying discrete pole placement technique to the trajectory tracking control problem of nonlinear systems, we apply this control method to actual 2-link robot manipulator and present the experimental results.