Design of a Multivariable Nonlinear Control System based on the State Feedback Linearization Method applied to a Dof Spherical Manipulator Robot

Authors

  • Ronald Divio Maravi Pinto Facultad de Ingeniería Eléctrica y Electrónica, Universidad Nacional de Ingeniería, Lima - Perú

DOI:

https://doi.org/10.21754/tecnia.v11i2.520

Abstract

This paper presents the multivariable feedback linearization methodology applied to a spherical robot arm of 2 DOF to solve the problem of trajectory tracking. The base of the robot arm (a metallic disk joined to a metallic bar) is driven by a first DC motor, while its metallic link is driven by a second DC motor. Both motors possess optical encoders to sense angular positions.
The robot arm is a multivariable square process with two inputs (armature voltages) and two outputs (angular positions of the base and the link). Simulation results of the designed nonlinear control system will demonstrate that the designed control inputs make the outputs capable of tracking desired trajectories.

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References

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[7] . Khalil K. H., Nonlinear Systems, Prentice Hall, (1996).

[8] . Rojas Moreno A., Control Avanzado, Publicación Independiente, ISBN 9972-9318-0-3, 2001.

[9] . Tupayachi A., Control No Lineal de Servosistemas, Tesis de Grado FIEE, Universidad Nacional de Ingeniería, 1998

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Published

2001-12-01

How to Cite

[1]
R. D. Maravi Pinto, “Design of a Multivariable Nonlinear Control System based on the State Feedback Linearization Method applied to a Dof Spherical Manipulator Robot”, TEC, vol. 11, no. 2, Dec. 2001.

Issue

Vol. 11 No. 2 (2001)

Section

Articles

License

Copyright (c) 2001 TECNIA

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