This paper demonstrates the benefit of a new method for reducing the number of scheduling parameters of LPV controllers, by applying it to a robot manipulator. A full LPV representation of a planar two-link robot with ten scheduling parameters is considered. The number of parameters can be reduced by applying principal components analysis to typical scheduling trajectories. The proposed method enables a systematic trade-off between the number of reduced parameters and the desired accuracy of the model. The practicality of the approach is illustrated with a design example: an LPV controller, designed using a parameter reduced model, is shown in simulation studies to outperform a robust, fixed-gain controller designed to minimize the worst-case H2 norm. Copyright note: ©20xx IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    LPV control of a 2-DOF robot using parameter reduction


    Beteiligte:

    Erscheinungsdatum :

    2005-01-01


    Anmerkungen:

    930768075



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    50. / 620 / 629




    Human body parameter-based passive walking robot motion control algorithm

    WANG ZUOXUN / PANG CHUANZHE / SUI JINXUE et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Parameter Optimization of a Snake Robot Using Taguchi Method

    Kalani, H. / Akbarzadeh, A. | British Library Conference Proceedings | 2012


    Parameter Optimization of a Snake Robot Using Taguchi Method

    Kalani, H. / Akbarzadeh, A. | British Library Conference Proceedings | 2012


    Underwater robot vertical plane motion control method based on parameter identification

    WANG YIQUN / TIAN QIYAN / SUN HONGLIN et al. | Europäisches Patentamt | 2022

    Freier Zugriff