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LPV modelling and control of a 2-DOF robotic manipulator using PCA-based parameter set mapping
Publikationstyp
Conference Paper
Date Issued
2009
Sprache
English
Author(s)
Institut
Issue
2009
Start Page
7418
End Page
7423
Article Number
5400621
Citation
Proceedings of the 48th IEEE Conference on Decision and Control, 2009 : held jointly with the 2009 28th Chinese Control Conference ; CDC/CCC 2009 ; 15 - 18 Dec. 2009, Shanghai, China. - Piscataway, NJ, 2009. - Art. no. 5400621 7418-7423 (2009)
Contribution to Conference
Publisher DOI
Scopus ID
Publisher
IEEE
This paper presents the construction of a realistic linear parameter-varying (LPV) model of a robotic manipulator using parameter set mapping, for the purpose of synthesizing an LPV gain-scheduled controller. A nonlinear dynamic model of the manipulator is obtained and a quasi-LPV model is derived. Since the quasi-LPV model has a large number of affine scheduling parameters and a large overbounding, parameter set mapping is used to reduce conservatism and complexity in controller design by finding tighter parameter regions with fewer scheduling parameters. Then, a polytopic LPV gain-scheduled controller is synthesized and implemented experimentally on an industrial robot for a trajectory tracking task. Comparison of results with a decentralized PD controller illustrates that the designed LPV controller improves the tracking error significantly. Moreover, it achieves a slightly better accuracy than a model-based inverse dynamics controller while being of lower complexity. ©2009 IEEE.
DDC Class
600: Technik
620: Ingenieurwissenschaften