Robust Controller Design for Non-Minimum Phase UAV System and System Analysis

Modified Linear Technique for the Controllability and Observability of Robotic Arms

“…The main concern of this section is to present three techniques for the controllability and observability of robotic arms. First, the linearization technique for the controllability and observability of robotic arms will be presented [25], [26], [27], [28], [29], [30], [31], [32], [33]. Second, the linear technique for the controllability and observability of robotic arms will be presented [34], [35], [36], [37], [38], [39], [40], [41].…”

“…Now, the linearization technique of [25], [26], [27], [28], [29], [30], [31], [32], [33] is applied to the scara robotic arm.…”

“…Now, the linearization technique of [25], [26], [27], [28], [29], [30], [31], [32], [33] is applied to the two link robotic By using the linearization technique described in (4), the nonlinear time-variant model is:…”

“…In [25], [26], [27], authors consider the fact that robotic arms are changed from being linearly uncontrollable to linearly controllable when the equilibrium point is moved from the origin to a different one. In [28], [29], [30], authors propose linearization feedbacks of robotic arms for the controllability. In [31], [32], [33], authors present controllability analysis proving that some robotic arms are not controllable.…”

“…From the aforementioned studies, the linearization technique has been frequently applied for the controllability and observability of robotic arms [25], [26], [27], [28], [29], [30], [31], [32], [33], the linearization technique consists of the following three steps: 1) the Jacobian approximation is used to approximate a nonlinear time-variant model as a linear time-variant model, 2) this linear time-variant model is evaluated at origin to obtain a linear time-invariant model, 3) the rank condition tests the controllability and observability of the linear time-invariant model. The linearization technique for the controllability and observability of robotic arms has the problem that it produces an undesired error caused by the Jacobian approximation.…”