OPTIMAL-CONTROL OF A SINGLE LINK MANIPULATOR INCLUDING MOTOR DYNAMICS

The nonlinear behavior of robotic manipulators motivated the research in implementing adaptive control strategies. Recently, the effects of motor dynamics have attracted the attention of a number of researchers . In this paper, we present a new optimal controller designed for rigi d-body robots including motor dynamics. The new optimal adaptive contr oller developed in this work is based on feedback linearization, it do es not require acceleration feedback, it does not assume full state is available for measurement but it requires an observer. Naturally, it does not assume exact knowledge of either robot or actuator parameters . The optimality is based on the minimization of a performance index w hich turns out to be possible if we could find a solution to the Hamil ton-Jacobi equation. (C) 1998 Elsevier Science Ltd. All rights reserve d.