New robust algorithm for nonlinear robot systems

摘要: This paper presents a new algorithm for the control of nonlinear robot systems, which are expressed as high-order differential equation. Some difficulties caused by Coulomb friction, spring effect link between drive motor and manipulator arm, unmeasurable state variables. The is based on feeding back delayed values observable variables augmenting system additional discrete integrators. gain parameters obtained numerically applying quadratic optimal theory then readjusting to eliminate limit cycle investigating proposed describing function method discrete-continuous hybrid system.