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 language English 345-361 17 Intelligent Automation and Soft Computing 3 4 https://doi.org/10.1080/10798587.1997.10750713 Published - 1997 Jan 1

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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

title = "Nonlinear Control of a 3 DOF Articulated Manipulator using Nonlinear Transformation",
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.",
author = "Baek, {Yoon Su} and Yang, {C. I.}",
year = "1997",
month = "1",
day = "1",
doi = "10.1080/10798587.1997.10750713",
language = "English",
volume = "3",
pages = "345--361",
journal = "Intelligent Automation and Soft Computing",
issn = "1079-8587",
publisher = "AutoSoft Press",
number = "4",

}

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

Research output: Contribution to journalArticle

TY - JOUR

T1 - Nonlinear Control of a 3 DOF Articulated Manipulator using Nonlinear Transformation

AU - Baek, Yoon Su

AU - Yang, C. I.

PY - 1997/1/1

Y1 - 1997/1/1

N2 - 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.

AB - 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.

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