NonLinear Control via Input-Output Feedback Linearization of a Robot Manipulator

Abstract

This paper presents the input-output feedback linearization and decoupling algorithm for control of nonlinear Multi-input Multi-output MIMO systems. The studied analysis was motivated through its application to a robot manipulator with six degrees of freedom. The nonlinear MIMO system was transformed into six independent single-input single-output SISO linear local systems. We added PD linear controller to each subsystem for purposes of stabilization and tracking reference trajectories, the obtained results in different simulations shown that this technique has been successfully implemented.