Abstract:
This dissertation describes sampled-data control state feedback stabilization of two
links Robotic Manipulator with control design based on approximate discrete-time
model. The control law is based on state feedback stabilization and linearization of
Robotic Manipulator. The control is based on two techniques one of them used
Continues model of Robotic Manipulator, then control is design using continuous
techniques and implemented digitally by using Zero order hold. Other control used
approximate discrete-time model of the Robotic manipulator is computed from its
continuous-time model using Euler method. The discrete-time controller is designed to
stabilize the approximate discrete-time model of the plant. Two input torques are used
as control for Robotic Manipulator having position and velocity. Thesis explains the
detailed derivation of dynamic equation of robotic Manipulator and its controller design
stage also provides the numerical simulation and comparison between both controllers.
The performance of the discrete-time controller based on approximate discrete-time
model is compared to that of the continuous-time controller based on the continuoustime model of Robotic Manipulator
