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This paper presents a study on nonlinear decoupling PD-type control for a two-degree-of-freedom Pelican robot manipulator, addressing the challenges of controlling complex nonlinear dynamics. The proposed control method is rigorously evaluated through simulations, demonstrating superior effectiveness and robustness compared to traditional linear control methods, particularly in trajectory tracking. The research highlights the practical implementation of this control approach, emphasizing its advantages in e

Author

Imen Saidi

Language

EN