Position Control of Robotic Systems via an Affine PD-Based Controller: Comparison Between Two Design Approaches

This work is concerned with the position control of robotic systems by means of an affine PD-based control law. The general nonlinear differential equation of the dynamics with a non-constant and nonlinear input matrix is considered. The main idea for the design of the control law lies in linearizing the dynamics of the robot around the desired configuration state by using the first-order Taylor approximation. Thus, by means of the obtained linear model, two different approaches for the design of the feedback gains of the affine PD controller are presented. At the end of this work, a two-degree-of-freedom manipulator robot is adopted to show the efficiency and then to compare between the two design approaches of the affine PD-based control law.