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Comparing Feedback Linearization and Jacobian Linearization for LQ Control of an Industrial Manipulator
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0003-2106-2457
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0002-2100-6378
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0003-2106-2457
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
2018 (English)In: Proccedings of the 12TH IFAC SYMPOSIUM ON ROBOT CONTROL, 2018Conference paper, Published paper (Refereed)
Abstract [en]

Feedback linearization is compared to Jacobian linearization for LQ control of atwo-link industrial manipulator. A method for obtaining equivalent nominal performance forboth control designs is introduced. An experimentally verified benchmark model with industrialrelevance is used for comparing the designs. Results do not show any conclusive advantages ofFeedback linearization.
Place, publisher, year, edition, pages
2018.
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-151588OAI: oai:DiVA.org:liu-151588DiVA, id: diva2:1250973
Conference
12TH IFAC SYMPOSIUM ON ROBOT CONTROL
Available from: 2018-09-25 Created: 2018-09-25 Last updated: 2021-12-06

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Hedberg, ErikNorrlöf, MikaelMoberg, StigGunnarsson, Svante

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