Gain scheduling LQI controller design for LPV descriptor systems and motion control of two-link flexible joint robot manipulator

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dc.contributor.authorAltun, Yusuf
dc.date.accessioned2020-04-30T13:32:30Z
dc.date.available2020-04-30T13:32:30Z
dc.date.issued2018
dc.departmentDÜ, Mühendislik Fakültesi, Bilgisayar Mühendisliği Bölümüen_US
dc.description.abstractThis 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.en_US
dc.identifier.doi10.11121/ijocta.01.2018.00564en_US
dc.identifier.endpage207en_US
dc.identifier.issn2146-0957
dc.identifier.issue2en_US
dc.identifier.scopusqualityQ3en_US
dc.identifier.startpage201en_US
dc.identifier.urihttps://dx.doi.org/10.11121/ijocta.01.2018.00564
dc.identifier.urihttps://hdl.handle.net/20.500.12684/325
dc.identifier.volume8en_US
dc.indekslendigikaynakScopusen_US
dc.indekslendigikaynakTR-Dizinen_US
dc.language.isoenen_US
dc.publisherBalikesir Universityen_US
dc.relation.ispartofInternational Journal of Optimization and Control: Theories and Applicationsen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectDescriptor system; Gain scheduling; LQR controller; Robotic manipulatoren_US
dc.titleGain scheduling LQI controller design for LPV descriptor systems and motion control of two-link flexible joint robot manipulatoren_US
dc.typeArticleen_US

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