Nonlinear Control of a 3 DOF Articulated Manipulator using Nonlinear Transformation

Yoon Su Baek, C. I. Yang

Research output: Contribution to journalArticle

Abstract

The equations of motion for a 3 D.O.F. articulated manipulator are highly nonlinear equations with nonlinear coupling between the variables of motion. For these nonlinear equations, the control algorithm based on approximately linearized equation looses the efficiency as the real working processes deviate from the assumed conditions for the linearization. As one of the methods to design the control law for the manipulator, Hunt-Su's nonlinear transformation method and Marino's feedback equivalence condition are used with linear quadratic regulator (LQR) theory. By this feedback law, nonlinear terms of the system are eliminated and coupled terms are decoupled. This method is applied to a 3 D.O.F. articulated manipulator and compared with PID control which is widely used in the industry. The manipulator and the controller are made for experiments and analysis. From the results of experiments, we know that the performance of the nonlinear control law is better than PID control. Also the suggestions to choose the proper gains of the nonlinear control law are provided.

Original languageEnglish
Pages (from-to)345-361
Number of pages17
JournalIntelligent Automation and Soft Computing
Volume3
Issue number4
DOIs
Publication statusPublished - 1997 Jan 1

Fingerprint

Nonlinear Transformation
Nonlinear Control
Manipulator
Manipulators
PID Control
Three term control systems
Nonlinear equations
Nonlinear Equations
Feedback
Feedback Law
Term
Linearization
Regulator
Control Algorithm
Equations of motion
Experiment
Equations of Motion
Choose
Experiments
Equivalence

All Science Journal Classification (ASJC) codes

  • Software
  • Theoretical Computer Science
  • Computational Theory and Mathematics
  • Artificial Intelligence

Cite this

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Nonlinear Control of a 3 DOF Articulated Manipulator using Nonlinear Transformation. / Baek, Yoon Su; Yang, C. I.

In: Intelligent Automation and Soft Computing, Vol. 3, No. 4, 01.01.1997, p. 345-361.

Research output: Contribution to journalArticle

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