Adaptive nonlinear control algorithms for robotic manipulators

Abstract

Abstract:- In this paper some adaptive nonlinear multivariable techniques used in the control of robotic manipulators are presented. The nonlinear control law and state feedback are used in achieving a linear input-output behavior for the controlled system. For the design of the adaptive nonlinear control, the exact feedback input-output linearization and the method of gradient are used. The nonlinear control law achieves also decoupling. Computer simulations are included to demonstrate some theoretical aspects and the performances of these controllers for a typical structure of robotic manipulator.