Fast and slow control laws for a two-link non-linear manipulator

The method of singular perturbations is utilized in reducing the order of the mathematical models representing the robot arm dynamics. The model reduction takes place by identifying the fast and slow dynamics of the original robot arm. Two separate control laws for the slow and the fast subsystems are identified. The slow subsystem control law is related to the desired position of the robot arm and the fast subsystem control law is developed by minimizing a performance measure that is a function of the fast variables in the system. The developed slow and fast control laws are utilized in generating a composite control law for a two link manipulator.<
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