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Optimal nonlinear position tracking control of a two-link flexible-joint robot manipulator

  • Chapter 11 Actuation Control
  • Conference paper
  • First Online:
Experimental Robotics V

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 232))

Abstract

This paper presents the design of an optimal nonlinear position tracking controller for an experimental two-link flexible joint robot manipulator. The controller is designed based on the concept of exact feedback linearization and LQG/LTR control design techniques. The proposed control approach reduces the number of required measurement sensors and takes into account the effects of measurement noises. Simulation and preliminary experimental results demonstrate the potential benefits of the proposed control approach in reaching the desired system performance with minimum control effort and equipments.

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References

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Author information

Authors and Affiliations

  1. Intelligent Manufacturing Systems Center, University of Windsor, N9B 3P4, Windsor, Ontario, Canada

    Tarek Lahdhiri

  2. Faculty of Engineering, Dean, University of Windsor, N9B 3P4, Windsor, Ontario, Canada

    Hoda A. ElMaraghy

Authors
  1. Tarek Lahdhiri
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  2. Hoda A. ElMaraghy
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Editor information

Alicia Casals Anibal T. de Almeida

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© 1998 Springer-Verlag London Limited

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Lahdhiri, T., ElMaraghy, H.A. (1998). Optimal nonlinear position tracking control of a two-link flexible-joint robot manipulator. In: Casals, A., de Almeida, A.T. (eds) Experimental Robotics V. Lecture Notes in Control and Information Sciences, vol 232. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0112988

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  • DOI: https://doi.org/10.1007/BFb0112988

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-76218-8

  • Online ISBN: 978-3-540-40920-5

  • eBook Packages: Springer Book Archive

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