Title :
Application of exact linearization method to robot control
Author :
Minh, Phan Xuan ; Nguyen, Thai Huu
Author_Institution :
Hanoi Univ. of Technol., Hanoi
Abstract :
This article presents a method of designing non-linear feedback controller which both compensates non-linear character of two degree of freedom robot to become equivalent linear plant and implement direct channel separation thereby easily apply linear theory to design state feedback controller.
Keywords :
control system synthesis; linearisation techniques; nonlinear control systems; robots; state feedback; exact linearization method; linear theory; nonlinear feedback controller; robot control; state feedback controller; Automatic control; Educational robots; Kinetic theory; Linear feedback control systems; Robot control; Robot vision systems; Robotics and automation; State feedback; State-space methods; Symmetric matrices; exact linearization; robot control;
Conference_Titel :
Control, Automation, Robotics and Vision, 2008. ICARCV 2008. 10th International Conference on
Conference_Location :
Hanoi
Print_ISBN :
978-1-4244-2286-9
Electronic_ISBN :
978-1-4244-2287-6
DOI :
10.1109/ICARCV.2008.4795880
