Nonlinear tracking control of a series manipulator based on linear filter reduction

Abstract

In this paper, for a manipulator, to realize the global exponential tracking of joint displacement and velocity, a nonlinear feedback tracking control system based on linear filter reduction is designed. In detail, firstly, a dynamic model of two degrees of freedom series manipulator is established by Lagrangian method. Secondly, a linear filter is introduced into the system model to solve the first-order equations of motion for linear filter variables. Then, a nonlinear feedback controller is designed, which feeds forward to compensate the nonlinearity and coupling of the system. Moreover, how to realize the global exponential stability of the system is proved by the Lyapunov stability method, and how to realize the exponential tracking of the desired displacement and velocity can also be obtained. Finally, the validity of the proposed method is verified by simulation results.