Gain scheduling LQI controller design for LPV descriptor systems and motion control of two-link flexible joint robot manipulator
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Dosyalar
Tarih
2018
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Balikesir University
Erişim Hakkı
info:eu-repo/semantics/openAccess
Özet
This paper proposes a gain scheduling linear quadratic integral (LQI) servo controller design, which is derived from linear quadratic regulator (LQR) optimal control, for non-singular linear parameter varying (LPV) descriptor systems. It is assumed that state space matrices are non-singular since many mechanical systems do not have any non-singular matrices such as the natural state space forms of robotic manipulator, pendulum and suspension systems. A controller design is difficult for the systems due to rational LPV case. Therefore, the proposed gain scheduling controller is designed without the difficulty. Accordingly, the motion control design is implemented for two-link flexible joint robotic manipulator. Finally, the control system simulation is performed to prove the applicability and performance. © 2018 Balikesir University. All rights reserved.
Açıklama
Anahtar Kelimeler
Descriptor system; Gain scheduling; LQR controller; Robotic manipulator
Kaynak
International Journal of Optimization and Control: Theories and Applications
WoS Q Değeri
Scopus Q Değeri
Q3
Cilt
8
Sayı
2
