Minimum time control of a two DOF robotic arm with noised measurements

Abstract

This paper presents a new approach for minimum time control dynamics of a two links manipulator robot in the case of noised outputs. Briefly, this technique consists of linearizing a nonlinear dynamic model of the robot by using a feedback linearization control. Once, the linear model has been obtained, a minimum time control with constraints, using the Pontryagin Minimum Principle will be developed. Here, the objective is to control the arm robot from an initial configuration to the final configuration in minimum time. The state variables are estimated by a Kalman-Luenberger observer. In order to show the efficiency of the proposed method, some simulation results are given.