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In this paper, an experimental result of the trajectory tracking control of 2-Iink robot manipulator is presented. A nonlinear system has a linear time-varying approximate model around some desired trajectory. This implies that the trajectory tracking control problem is to design a linear time-varying controller to stabilize this approximate model. This is very basic and classical idea, but, the design...
For the trajectory tracking control problem of nonlinear systems, the most basic and classic strategy may be applying the linear control technique to a linear time-varying approximate model around some desired trajectory. However, this method is not commonly used because the design of a linear time-varying controller is not simple. The authors proposed the simple design method of the pole placement...
For a trajectory tracking control problem of general nonlinear systems, the most basic and classic strategy may be applying linear control technique to a linear time-varying approximate model around some desired trajectory. However, since a time varying controller design method is not necessarily simple, this idea has not been commonly used. The authors proposed the simple design procedure of the...
This paper concerns with the control system of the robot manipulator in wide range of variables. For such a problem, the gain scheduling or robust control strategy based on several linear time-invariant approximate model or nonlinear control strategy are the most commonly used. In this paper, we apply a linear time varying controller based on the linear time-varying approximate model around some desired...
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