Decentralized near-optimum control of a robot manipulator

A novel decentralized near optimum control approach for a highly nonlinear industrial robot manipulator is developed. In this scheme, each joint is controlled independently based on the parameter sensitivity method. In addition, the method uses Pontryagin's maximum principle and the riccati formulation of the linear regulator problem. The principle and special features of the near optimum control scheme are discussed. The proposed control is applied to the joint control of a two link robot manipulator, and the effectiveness is verified by simulation results.<>