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LPV control of a 2-DOF robot using parameter reduction
Citation Link: https://doi.org/10.15480/882.244
Publikationstyp
Conference Paper
Date Issued
2005
Sprache
English
Author(s)
Institut
TORE-DOI
Citation
44th IEEE Conference on Decision and Control and European Control Conference, December 2005, Sevilla, Spain
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.
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.
Subjects
LPV
PCA
Parameterreduktion
LPV
PCA
Modelling
Parameter reduction
DDC Class
600: Technology
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