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.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

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



    Erscheinungsdatum :

    2018-01-01


    Anmerkungen:

    207



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    PID Controller Design for Two Link Flexible Manipulator

    Mahamood, R. M. / Aweda, J. O. / Ajao, K. R. et al. | BASE | 2015

    Freier Zugriff



    Dynamics of a flexible multi-link cosmic robot-manipulator

    Gouliaev, V.I. / Zavrazhina, T.V. | Tema Archiv | 2001