A. A. Pervozvanski
Russia, 195251, St.-Petersburg, Polytechnicheskaja st. 29,
St.-Petersburg State Technical University,
Department of Mechanic and control proceses,
T. V. Varjadchenko
Russia, 195251, St.-Petersburg, Polytechnicheskaja st. 29,
St.-Petersburg State Technical University,
Department of Mechanic and control proceses,
A new approach to the control of nonlinear objects under uncertainty is discussed. The control synthesis uses linear descriptions which are adequate in a vicinity of finite set of state space points and a nonlinear combination of locally stabilizing feedbacks. The main attention is paid to the control of two-links robotic manipulators. A comparison of the quasilinear approach and the scheme of approximate compensation of nonlinear interactions proposed early is realized by numerical simulation.