Designing of Linear and Nonlinear Controler for Controlling Multiple Links Manipulator

Dr. Anurag Shrivastava

doi:https://doi.org/10.51976/jfsa.312003

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Designing of Linear and Nonlinear Controler for Controlling Multiple Links Manipulator

Anurag Shrivastava

https://doi.org/10.51976/jfsa.312003

Author Details ( * ) denotes Corresponding author

1. * Anurag Shrivastava, Assistant Professor, Department of Mechanical Engineering, SR Institute of Management and Technology, Lucknow, Uttar Pradesh, India (onuda@rediffmail.com)

A controller canonical form for both linear and nonlinear dynamics is provided. The theorem of differential algebraic primitive elements is used to arrive to this result. Multivariable nonlinear input-output inversion has gained new insights into synthesis issues, especially those that include control-dependent state transformations, thanks to this field of mathematics. There is no way to use our controller form derivation for linear systems with more than one variable that are always constant. In some respects, this means that these systems are more complicated. unless time-varying control-dependent linear systems are allowed, more complicated than the structure of time-varying linear systems and generalised linear systems Constant linear systems are studied via transformations. All nonlinear dynamics can be accurately described by our transforms.

Keywords

Linear; Nonlinear; Multiple Links; Manipulator; Designing

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