Authors: Dr. Meera S. Patil, Mr. Ankit Roy
Abstract: Nonlinear control is essential in robotics due to the inherently nonlinear dynamics of robotic actuators, sensors, and mechanical linkages. Circuit- based nonlinear controllers, including analog and hybrid analog-digital
implementations, allow real-time compensation of nonlinearities such as saturation, dead-zone, and friction, improving precision, stability, and responsiveness. This paper presents an in-depth study of nonlinear control
circuit design for robotics applications, including feedback linearization,sliding mode control, and adaptive control circuits. Design considerations, component selection, and stability analysis are discussed. Tables compare nonlinear control techniques, circuit topologies, and robotic application performance metrics. Emerging trends, including integrated low-power circuits and AI-assisted nonlinear control, are also reviewed.
Keywords: Nonlinear control, robotics, analog controller, sliding mode, adaptive control, feedback linearization, actuator compensation
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