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Author/Affiliation: Jilani KnaniOpen AccessArticle
8 Pages, 802 KB 
NonLinear Control via Input-Output Feedback Linearization of a Robot Manipulator
Abstract:
This paper presents the input-output feedback linearization and decoupling algorithm for control of nonlinear Multi-input Multi-output MIMO systems. The studied analysis was motivated through its application to a robot manipulator with six degrees of freedom. The nonlinear MIMO system was transformed into six independent single-input single-output SISO linear local systems. We added PD linear controller…
Read More(This article belongs to Section Electrical Engineering (ELE))