Implementation of Nonlinear Control algorithms

A robotic manipulator is a nonlinear system and improved joint angle control can be potentially realised by using nonlinear control techniques. Variable structure control methods will be investigated and after successful simulation studies, the controller will be practically implemented on a modern underwater robot and compared to standard fixed-gain control methods.

Supervisor name: 
Dr. M.W.Dunnigan
Supervisor and Deputy email addresses: 
m.w.dunnigan@hw.ac.uk

Project Type: