Terminal Synergetic and PD Control of Nonlinear Robot Manipulator

In this paper, a new format of terminal synergetic control approach is introduced. applying this approach to nonlinear system, leads to more smooth and reliable control signal along with converging error signal to zero, in a shorter time in comparison to previous similar methods. A new terminal manifold which is inserted in the first order main equation of synergetic control calling Kolesnikov functional, is introduced. Applying this approach to a nonlinear two-link robot manipulator for position tracking in this paper and comparing the simulation results with other approaches proves its effectiveness and good performance of this approach.

کلیدواژه ها:

nonlinear robot ، smooth control ، synergetic control ، trajectory tracking