Optimal position controller of a two-link flexible joints robot manipulator

Abstract

Presents the design of an optimal nonlinear position tracking controller for a two-link flexible joint robot manipulator. The controller is designed using the concept of feedback linearization and LQG/LTR. A new method for computing the nonlinear state estimate is presented. The proposed approach reduces the number of required sensors and takes into account the effects of measurement noise. Simulation results demonstrate the potential benefits of the proposed approach in reaching the desired performance with minimum control effort and equipment.