A Suboptimal Control Design for Mechanical Manipulators

This paper presents the development of a closed loop suboptimal control with nonlinear feedback component for the control of mechanical manipulators. The feedback control law is composed of a nonlinear feedback for quasi-linearization and a linear quadratic control law with switching function. The switching function is used for stabilizing the quasi-linear system. The total computational time for the proposed control law is of order O(n³) where n is the number of degree of freedom of the manipulator.