Nonlinear H∞ controller for flexible joint robots with using feedback linearization
Journal Title: International Journal on Computer Science and Engineering - Year 2011, Vol 3, Issue 2
Abstract
This paper proposes a new approach to feedback linearization of flexible link robots which have uncertain modeling. The flexibility of joints is performed by use of the solenoid nonlinear springs, which have damper property. The simplified nonlinear H∞ controller is used to control linearized flexible link robots. The new continues and smooth model of frictions is used for modeling the dynamics of flexible robots. The effect of parameters tolerance, external disturbances and also other nonlinearities are expressed by a nonlinear independent term in linearized dynamics. Simulation results demonstrate that the proposed feedback linearization with simplified nonlinear H∞ controller has ability to control flexible joint robots with a good performance. Also it is more efficient than the NL-H∞ based controller with nonlinear dynamics. This technique can be used to control the other nonlinear systems which have the dynamics similar to flexible joint robots.
Authors and Affiliations
M. E. Akbari , G. Alizadeh , S. Khanmohammadi , I. Hassanzadeh, , M. Mirzaei , M. A. Badamchizadeh
Keywords
Related Articles
- EP ID EP108086
- DOI -
- Views 117
- Downloads 0
AN EFFICIENT APPROACH FOR ROUTING IN WIRELESS AD HOC NETWORK USING ARTIFICIAL INTELLIGENCE
MANETs are the set of small, low infrastructure communication setup that operates by consuming the energy of batteries. Thus, it is very much important for MANETs to perform efficiently. For efficient transmission, routi...
A Quantitative Measure for Object Oriented Design Approach for Large-Scale Systems
Object Oriented development methodology is a trend in software development for complex systems. The architecture of the application domain depends on the nature of problem statement in hand. Success depends on the overal...
Multi-party Quantum Communication in biological Cells
Populating domain specific words from Academic web pages of Tamil Nadu Universities to build domain ontology for educational websites.
Machine translation from one natural language to the other is a challenging task. One of the methods of doing machine translation is using Interlingua based approach. In that approach the source language can be represent...
An Implementation Approach for Intrusion Detection System in Wireless sensor Network
The Intrusion Detection System (IDS) has become a critical component of wireless sensor networks security strategy. In this paper we have made an effort to document related issues and challenges of intrusion detection sy...