Optimal nonlinear position tracking control of a two-link flexible-joint robot manipulator

This paper presents the design of an optimal nonlinear position tracking controller for an experimental two-link flexible joint robot manipulator. The controller is designed based on the concept of exact feedback linearization and LQG/LTR control design techniques. The proposed control approach reduces the number of required measurement sensors and takes into account the effects of measurement noises. Simulation and preliminary experimental results demonstrate the potential benefits of the proposed control approach in reaching the desired system performance with minimum control effort and equipments.