The Decentralized Nonlinear Controller of Robot Manipulator with External Load Compensation

This paper describes a newly designed decentralized nonlinear control strategy to control a robot manipulator. Based on the concept of the nonlinear state feedback theory and decentralized concept is developed to improve the drawbacks in previous works concerned with complicate intelligent control and low cost effective sensor. The control methodology is derived in the sense of Lyapunov theorem so that the stability of the control system is guaranteed. The decentralized algorithm does not require other joint angle and velocity information. Individual Joint controller is implemented using a digital processor with nearly actuator to make it possible to achieve good dynamics and modular. Computer simulation result has been conducted to validate the effectiveness of the proposed control scheme under the occurrence of possible uncertainties and different reference trajectories. The merit of the proposed control system is indicated in comparison with a classical control system.

Authors:

• Sun Lim
• Il-Kyun Jung

Keywords:

• Robot manipulator control
• nonlinear controller
• Lyapunov based stability
• Interconnection compensation.

References:

[1] Tzyh-Jong, "Effect Motor Dynamic on Nonlinear Feedback Robot Arm
Control," IEEE Trans. On Robotics and automatio, Vol 7, no. 1.
[2] Zhimei Chen, "Sliding Mode Control of Robot Manipulators Based on
Neural Network Reaching Law," IEEE International Conferenc on
Control an Automation,. Guangzhou, China -May 30 to June 1, 2007
[3] F.L. Lewis and V.L. Syrmos, "Optimal Control", New York, Wiley, 1995
[4] K.J. Astrom and B. Wittenmark, "Adaptive Control", Addison-Wesley,
1995
[5] J.J.E. Slotine and W.Li," Appied Nonlinear Control", Englewood Cliffs,
NJ: Prentical-Hall, 1991
[6] Richard M. Murray and Zexiang Li, " A Mathematical introduction to
robotic manipulation", CRC press, 1994
[7] Jhon J. Craig, "Introduction to Robotics 3rd", Prentice-Hall, 1995