Minimum time control of a two DOF robotic arm with noised measurements
Loading...
Date
2017-04-01
Authors
Journal Title
Journal ISSN
Volume Title
Publisher
ALGERIAN JOURNAL OF SIGNALS AND SYSTEMS (AJSS) .Vol.2, Issue 1.pp 21-30
Abstract
This paper presents a new approach for minimum time control dynamics of a two links manipulator
robot in the case of noised outputs. Briefly, this technique consists of linearizing a nonlinear dynamic model of
the robot by using a feedback linearization control. Once, the linear model has been obtained, a minimum time
control with constraints, using the Pontryagin Minimum Principle will be developed. Here, the objective is to
control the arm robot from an initial configuration to the final configuration in minimum time. The state
variables are estimated by a Kalman-Luenberger observer. In order to show the efficiency of the proposed
method, some simulation results are given.