Design of Optimal State Observer-Based Controller for 4-DOF Planar Manipulator Using PSO

摘要

The present paper aims at developing state observer-based controller for a 4-DOF planar serial manipulator. The kinematics of the manipulator has been achieved through D-H convention, and dynamics of the same has been derived after utilizing Lagrange-Euler formulation. The nonlinear dynamic equations have been linearized and expressed in state-space representation. Based on the arbitrarily chosen pole values, pole placement has been done and then observer is designed to evaluate the state variables. Further, PSO algorithm is also used to optimize the pole values and to minimize steady-state error. Once the optimal controller is designed, its performances have been tested in simulations.