Kwiatkowski, AndreasAndreasKwiatkowskiWerner, HerbertHerbertWerner2006-08-032006-08-03200544th IEEE Conference on Decision and Control and European Control Conference, December 2005, Sevilla, Spainhttp://tubdok.tub.tuhh.de/handle/11420/246This 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.enhttp://rightsstatements.org/vocab/InC/1.0/LPVPCAParameterreduktionLPVPCAModellingParameter reductionTechnology::600: TechnologyConference Paper2006-08-04urn:nbn:de:gbv:830-opus-312310.15480/882.244Regelungstechnik, SteuerungstechnikAutomatisierungstechnikRobotertechnikRegelungModellierungManipulator11420/24610.15480/882.244930768075Conference Paper