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Black-box versus grey-box LPV identification to control a mechanical system
Publikationstyp
Conference Paper
Date Issued
2012
Sprache
English
Author(s)
Institut
Volume
2012
Start Page
5152
End Page
5157
Article Number
6426536
Citation
Proceedings of the IEEE Conference on Decision and Control (): 6426536 5152-5157 (2012-01-01)
Contribution to Conference
Publisher DOI
Scopus ID
Publisher
IEEE
This paper presents a comparison of black-box and grey-box linear parameter varying (LPV) identification techniques to control a mechanical systems. It is illustrated by a practical example that if a physical model of a system is not available or too complicated for controller synthesis, black-box identification techniques may lead to a model and controller which achieves a reasonable performance. As an application, a black-box LPV model of a three-degrees-of- freedom robotic manipulator is identified experimentally from a sufficiently reach input-output data set. After model validation, a polytopic gain-scheduled LPV controller is designed for both models. Another LPV controller is designed based on a grey-box model. To compare the performance of the designed controllers, they are implemented on the manipulator to do a trajectory tracking task. In addition, an inverse dynamics and a PD controller are also implemented for comparison. It is shown that back-box LPV identification can potentially give reasonable performance, but not as high as grey-box modelling.
DDC Class
600: Technik
620: Ingenieurwissenschaften