Nonlinear Control of Rigid Manipulators Based on Approximate Solution of HJB Equation
نویسندگان
چکیده
The paper presents the design of nonlinear state feedback controller for a rigid manipulator. In order to obtain such controllers, a partial differential equation, HJB equation, should be solved, which is difficult to find a closed solution of that. In this paper, an efficient method using Taylor series expansion of nonlinear terms is used to tackle this problem. The tracking performance of the robotic system, using linear and nonlinear control actions is investigated. Simulation results show that the nonlinear control action has better response than that of linearized counterpart. Key-Words: Rigid robot manipulator, nonlinear state feedback control, optimal control, HJB equation, Taylor series expansion.
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