%0 Journal Article
	%A Sun Lim and  Il-Kyun Jung
	%D 2010
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 40, 2010
	%T The Decentralized Nonlinear Controller of Robot Manipulator with External Load Compensation
	%U https://publications.waset.org/pdf/13100
	%V 40
	%X This paper describes a newly designed decentralized
nonlinear control strategy to control a robot manipulator. Based on the
concept of the nonlinear state feedback theory and decentralized
concept is developed to improve the drawbacks in previous works
concerned with complicate intelligent control and low cost effective
sensor. The control methodology is derived in the sense of Lyapunov
theorem so that the stability of the control system is guaranteed. The
decentralized algorithm does not require other joint angle and velocity
information. Individual Joint controller is implemented using a digital
processor with nearly actuator to make it possible to achieve good
dynamics and modular. Computer simulation result has been
conducted to validate the effectiveness of the proposed control scheme
under the occurrence of possible uncertainties and different reference
trajectories. The merit of the proposed control system is indicated in
comparison with a classical control system.
	%P 354 - 357