Optimal control of a single link manipulator including motor dynamics

摘要

The nonlinear behavior of robotic manipulators motivated the research in implementing adaptivecontrol strategies. Recently, the effects of motor dynamics have attracted the attention of a number ofresearchers. In this paper, we present a new optimal controller designed for rigid-body robotsincluding motor dynamics. The new optimal adaptive controller developed in this work is based onfeedback linearization, it does not require acceleration feedback, it does not assume full state isavailable for measurement but it requires an observer. Naturally, it does not assume exact knowledgeof either robot or actuator parameters. The optimality is based on the minimization of a performanceindex which turns out to be possible if we could find a solution to the Hamilton-Jacobi equation.