Position control of roboticmanipulator joints with twodegrees of free-domusing sdre control

Resumo

This paper presents a control design for robotic manipulators with two links. The dynamic model of the manipulator is obtained in a closed form through the Lagrange equations. The control strategy involves the application of two control signals, a nonlinear feedforward control to maintain the controlled system in a desired point, and a state feedback control, obtained by the State Dependent Riccati Equation (SDRE), to bring the system trajectory into at a desired point. The control is realized through the control of motor voltage. A state-dependent equation is solved at each new point obtained for the variables from the problem, along the trajectory to obtain a nonlinear feedback controller. Numerical simulations demonstrate the effectiveness of the control strategy in leading the system from any initial condition to a desired point.