Design of multivariable controller based on feedback linearization for five-bar linkage manipulator

This paper proposes a multivariable controller for five-bar linkage robot manipulator with nonlinear coupled dynamics using feedback linearization method. A five-bar linkage robot manipulator with coupling effect is fully decoupled and linearized. The necessary and sufficient conditions for this approach are discussed in this paper. The robustness of the proposed controller is investigated. The simulation results verify that this approach is robust to in system parameters. System performance is tested in the presence of white noises affecting the system inputs. This controller can be applied to wide range of square MIMO nonlinear dynamic systems with the coupling effect.

[1]  Hee-Jun Kang,et al.  An online self-gain tuning method using neural networks for nonlinear PD computed torque controller of a 2-dof parallel manipulator , 2013, Neurocomputing.

[2]  Hamed Kharrati,et al.  Performance tuning for robot manipulators using intelligent robust controller , 2011 .

[3]  Hee-Jun Kang,et al.  An Adaptive Controller Using Wavelet Network for Five-Bar Manipulators with Deadzone Inputs , 2013, ICIC.

[4]  I. Hassanzadeh,et al.  Model following adaptive control for a robot with flexible joints , 2008, 2008 Canadian Conference on Electrical and Computer Engineering.

[5]  Roger Skjetne,et al.  Robust output maneuvering for a class of nonlinear systems , 2004, Autom..

[6]  M. Spong,et al.  Robot Modeling and Control , 2005 .

[7]  Fang Sheng,et al.  Genetic algorithm and simulated annealing for optimal robot arm PID control , 1994, Proceedings of the First IEEE Conference on Evolutionary Computation. IEEE World Congress on Computational Intelligence.

[8]  I. Hassanzadeh,et al.  Design of MIMO controller for a manipulator using Tabu Search algorithm , 2007, 2007 International Conference on Intelligent and Advanced Systems.

[9]  C. Kravaris,et al.  Synthesis of multivariable nonlinear controllers by input/output linearization , 1990 .

[10]  Christopher Nielsen,et al.  Path following for mechanical systems: Experiments and examples , 2011, Proceedings of the 2011 American Control Conference.

[11]  P. R. Ouyang,et al.  Revisiting hybrid five-bar mechanism: Position domain control application , 2014, 2014 IEEE International Conference on Information and Automation (ICIA).

[12]  Hee-Jun Kang,et al.  Chattering-Free Neuro-Sliding Mode Control of 2-DOF Planar Parallel Manipulators , 2013 .