Synthesis of Approximating State Feedback for Robotic Manipulator

摘要

This paper invents a methodology to synthesize proportional derivative controller for robotic manipulator. The proposed design methodology is based on exact feedback linearization method. A proportional derivative controller candidate which linearly approximates the nonlinear controller which is resulted from exact feedback linearization method is evaluated under Lyapunov stability condition. We show the effectiveness of the proposed method by applying it to robotic manipulator model, obtaining the proportional derivative controller, simulating the closed loop behavior of the system. A comparison of the proposed method with exact feedback linearization method shows that there is no significant performance degradation when approximating exact feedback linearization by the proposed method.