Design of multivariable controller based on feedback linearization for five-bar linkage manipulator

Abstract

This paper proposes a multivariable controller for five-bar linkage robot manipulator with nonlinear coupled dynamics using feedback linearization method. A five-bar linkage robot manipulator with coupling effect is fully decoupled and linearized. The necessary and sufficient conditions for this approach are discussed in this paper. The robustness of the proposed controller is investigated. The simulation results verify that this approach is robust to in system parameters. System performance is tested in the presence of white noises affecting the system inputs. This controller can be applied to wide range of square MIMO nonlinear dynamic systems with the coupling effect.