Open AccessSingle Link Manipulator Trajectory Tracking using Nonlinear Control Algorithm
Author(s) -
Musadaq A. Hadi,
Hazem I. Ali
Publication year - 2021
Publication title -
mağallaẗ al-nahrayn li-l-ʿulūm al-handasiyyaẗ
Language(s) - English
Resource type - Journals
eISSN - 2521-9162
pISSN - 2521-9154
DOI - 10.29194/njes.24010030
Subject(s) - control theory (sociology) , nonlinear system , controller (irrigation) , stability (learning theory) , trajectory , transformation (genetics) , lyapunov function , computer science , tracking (education) , lyapunov stability , control system , algorithm , control engineering , engineering , control (management) , artificial intelligence , psychology , pedagogy , biochemistry , chemistry , physics , electrical engineering , quantum mechanics , astronomy , machine learning , gene , agronomy , biology
A new robust control algorithm is proposed for a class of nonlinear systems represented by a Single Link Manipulator (SLM) system. This algorithm is based on new techniques and methods in order to obtain a controller for the SLM system. First of all, the system is simplified using Variable Transformation Technique (VTT) in order to fit the analysis procedure. Then, a new idea of designing a model reference for the multiple states (n=4) system is presented to correspond the control design. Next, the Lyapunov Stability Analysis (LSA) is used to figure out a proper controller that can compensate the stability and the performance of the SLM system. After that, the Most Valuable Player Algorithm (MVPA) is applied to find the optimal parameters of the proposed controller to accomplish the optimum performance improvement. Finally, it can be concluded that the proposed control algorithm has improved the stability and the performance of the SLM system. In addition, the simulation results show the remarkable effects of the proposed nonlinear controller on the SLM system.