Multi-channel control system design for a robot manipulator based on the time-scale method

The problem of controller design for nonlinear multi-channel dynamical plants is discussed. Trajectory motion tracking control for a multilink manipulator is treated as an example of the proposed design methodology. A distinctive feature of the discussed approach to calculate controller parameters is that two-time-scale motions are artificially forced in a closed-loop system where stability of the fast mode is provided by selection of the controller parameters while the induced slow mode correspond to the reference model of desired nonlinear plant behavior. Simulation results for a two-link manipulator robot manipulator tracking control system are presented..