Optimal Tracking Position Control Design for 2-link RR-Robot Manipulator

Integral action is used in classical control to eliminate steady state errors when tracking constant signals. Integral control can be introduced in an LQ tracking controller by considering the integral of the tracking error as an extra set of state variables. This integral control is based on the local Lipchitz conditions at any compact time. The recursive approximation theory isincorporated with the classical control design technique to compute the optimal position control which is generated from theapproximate sequence of linear time varying systems. A case study is presented is optimal tracking position control design for 2- link RR-Robot Manipulator by representing the class of nonlinear system into the sequences of linear time varing systems

کلیدواژه ها:

Nonlinear Optimal Control ، 2-link RR-robot ، robot manipulator ، approximated sequence of linear time varying systems ، Tracking Position Control