Sampled-data control of pan-tilt platform using discrete-time high gain observer

In this paper we have presented the design of sampled-data control algorithm for Pan-tilt platform using Discrete-time High Gain Observer (DHGO). The Pan-Tilt platform is a 2-axis serial robotic manipulator having a nonlinear dynamic model. The design of the control algorithm is carried out in 2 ste...

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Bibliographic Details
Published inIOP conference series. Materials Science and Engineering Vol. 707; no. 1; pp. 12005 - 12010
Main Authors Ullah, Hameed, Malik, Fahad Mumtaz, Saeed, Anjum, Ali Akbar, Zeeshan, Hussain, Sajjad
Format Journal Article
LanguageEnglish
Published Bristol IOP Publishing 01.11.2019
Subjects
Algorithms
Control algorithms
Control theory
Dynamic models
Dynamical systems
Feedback control
Feedback linearization
High gain
Nonlinear dynamics
Robot arms
State feedback
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ISSN1757-8981
1757-899X
1757-899X
DOI10.1088/1757-899X/707/1/012005

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Summary:In this paper we have presented the design of sampled-data control algorithm for Pan-tilt platform using Discrete-time High Gain Observer (DHGO). The Pan-Tilt platform is a 2-axis serial robotic manipulator having a nonlinear dynamic model. The design of the control algorithm is carried out in 2 steps. In 1st steps, a continuous time state feedback control law based on feedback linearization is designed which is subsequently discretized. In the second stage, the states of the system are estimated using DHGO. To evaluate the performance of the suggested algorithm extensive simulations are carried out in Matlab Simulink.
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ISSN:1757-8981
1757-899X
1757-899X
DOI:10.1088/1757-899X/707/1/012005