Title :
Nonlinear Control of an Underactuated Two-Link Manipulator
Author :
Bedrossian, Nazareth S.
Author_Institution :
Member Technical Staff, Control & Decision Systems., The Charles Stark Draper Laboratory, Inc., 2200 Space Park Drive, Suite 210, Houston, TX 77058. e-mail: naz@mickey-csdl.jsc.nasa.gov
Abstract :
Approximate feedback linearization is applied to the control of an underactuated nonlinear systems. A computational method to determine the order of linearization and construction of the required nonlinear state and control transformations is presented. This approach is applied to an underactuated two-link planar manipulator. Simulation results show that the nonlinear design improves the operating range of the linear controller.
Keywords :
Control design; Control systems; Control theory; Laboratories; Linear approximation; Linear feedback control systems; Linear systems; Nonlinear control systems; Nonlinear systems; System testing;
Conference_Titel :
American Control Conference, 1993
Conference_Location :
San Francisco, CA, USA
Print_ISBN :
0-7803-0860-3
