The principal problem is the control of a nonlinear system with uncertainty. We will consider a robot manipulator system, which is nonlinear, and uncertain (unknown parameters and modeling errors). Our goals are to come up with a design of controllers that insure the stability of the system and provide robustness to parameters changes and modeling errors. We will use the theory developed for uncertain linear systems after carrying out an exact linearization of the original system. This linearization which is not an approximation, has been recently developed. The linear part of the controller has been designed so as to guarantee tracking and disturbance rejection. However, additional constraints resulting from the original nonlinear system have to be taken care of. Our design is tested by simulation on a two degree of freedom robot manipulator, which is simple enough to simulate but has all the properties of more general manipulators.
|Source Sets||Rice University|
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