Experimental Study of PID and Robust Feedback Linearization Controllers Using a 2-DOF Five Link Planar Robot

摘要

PID and robust feedback linearization controllers were studied experimentally using a 2-DOF Planar Quanser robot with an open architecture design. The PID controller was designed independent of system dynamics. The gains were tuned using the results of multiple runs of joint angle commands. The system dynamics were taken into consideration for the design of robust feedback linearized (RFL) controller which allowed the system to perform more efficiently than the PID controller. Actual performance of the two controllers is evaluated after running the robot with two distinct commands assigning joint angle and sinusoidal which resulted in a straight line and traced path respectively.