Abstract
A feedback linearization design for a class of nonlinear systems is described. The control system is an observer-based (full- or reduced-order) design that utilizes estimates of some of the states for both the exact feedback linearization and the linear outer-loop controller. In particular, the approach is applied to the dynamics of multilink robot manipulators. Simulation studies and experimental results on a two-link planar arm are given and contrasted to show the applicability of the proposed methodology. Some practical issues for real-time implementation of the feedback control algorithms are presented.
| Original language | American English |
|---|---|
| Pages (from-to) | 731-736 |
| Number of pages | 6 |
| Journal | Proceedings of the American Control Conference |
| DOIs | |
| State | Published - 1990 |
| Externally published | Yes |
| Event | Proceedings of the 1990 American Control Conference - San Diego, CA, USA Duration: May 23 1990 → May 25 1990 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering