Controller design method for a nonlinear system with an input constraint and its application to a robot arm

摘要

In this paper, we propose a controller for a nonlinear system with an input constraint depending on the state. The proposed controller is based on Kidane's controllers. Then, if system has one input, we can tune optimality and robustness easily. We apply the proposed controller to single-link robot arm in order to verify the effectiveness of the proposed controller