This paper investigates the possibilities of combining nonlinear state estimation techniques with LPV gain scheduling control through a case study on a 2-DOF robotic arm. The prime motivation is the question of uncertain load, which is generally regarded as an exogenous disturbance, that significantly alters the system dynamics, therefore its estimation is desperately needed. The paper reveals promising results for an effective combination of nonlinear Kalman filters and the LPV framework. The proposed solution is validated in a simulation environment.


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    Title :

    LPV-Based Adaptive Control of a 2-DOF Robotic Arm


    Additional title:

    Mechan. Machine Science


    Contributors:

    Conference:

    International Symposium on Measurements and Control in Robotics ; 2023 ; Iasi, Romania September 21, 2023 - September 22, 2023



    Publication date :

    2024-04-02


    Size :

    11 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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