What is the best method to nonlinearly control a robot manipulator?

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Farzin Piltan

Dear Dohare

You said correctly, I can be used self tuning I think it's a part of adaptive methodology. these methods have some advantages and disadvantages. I also have many papers related to design self tuning controllers, You also can follow my papers.

Dear Vazquez

Thank's for your answer. You said SMC can help me to have a robust controller but it has some challenges such as chattering or equivalent problem. Do you have a better choice?

I have more than 70 papers related to SMC methodology, you can follow my papers.

You said correctly, SMC is a good choice to control, I'd like to know that is it the best one?????

If we select this one, I must to think, how we can modify this controller?

So if you said SMC is better Than CTC , Backstepping or the other type of controller you must to explain it.

Regards

Emmanuel Delaleau

Flatness-based control (and its advance version : Exactfeedforward linearization). Definitively.

- V Hagenmeyer, E Delaleau (2010) Robustness Analysis with Respect to Exogenous Perturbations for Flatness-Based Exact Feedforward Linearization IEEE Trans. Automat. Control., vol. 55, pp. 727-731

- V Hagenmeyer, E Delaleau (2003) Robustness Analysis of Exact Feedforward Linearization based on differential flatness Automatice, vol. 39, pp. 1941-1946.

- V Hagenmeyer, E Delaleau (2003) Exact feedforward linearization based on differential flatness, International Journal of Control, vol. 76, pp. 537-556.

Article Robustness Analysis With Respect to Exogenous Perturbations ...

Ning Cai

I don't know the detail of your model. But so far as my knowledge is concerned, robust controller based on signal compensation is the most practical way to control an unknown plant. The idea of implementation is rather simple by regarding all model uncertainty and external disturbances as an overall signal, and suppressing it by output error feedback. See publications by Prof. Zhong, Y.-S. from Google Scholar.