SAMPLED - DATA STATE FEEDBACK STABILIZATION OF TWO-LINK ROBOTIC MANIPULATOR

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