ASSESSMENT OF THE PERFORMANCE OF A NONLINEAR PLANT-OBSERVER CONTROL SCHEME

摘要

The purpose of this paper is to assess the performance of a nonlinear plant-observer control scheme by trying two feedback control strategies and checking that it is possible to control in a robust way, a class of feedback multivariable, continuous time, nonlinear systems in the presence of internal uncertainties and external stochastic perturbations. The control scheme is applied to the mathematical model of a robot manipulator with two degrees of freedom with unknown friction and inaccessible angular velocities. The purpose is to investigate its performance when the manipulator tracks a trajectory. Simulation results of the control strategies using MatLab/ Simulink~R, are presented.