Titel: LPV control of a 2-DOF robot using parameter reduction
Sprache: Englisch
Autor/Autorin: Kwiatkowski, Andreas
Werner, Herbert
Schlagwörter: LPV;PCA;Parameterreduktion;LPV;PCA;Modelling;Parameter reduction
Erscheinungsdatum: 2005
Quellenangabe: 44th IEEE Conference on Decision and Control and European Control Conference, December 2005, Sevilla, Spain
Zusammenfassung (englisch): 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. Copyright note: ©20xx IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
URI: http://tubdok.tub.tuhh.de/handle/11420/246
URN: urn:nbn:de:gbv:830-opus-3123
DOI: 10.15480/882.244
Institut: Regelungstechnik E-14
Control Systems E-14
Dokumenttyp: InProceedings (Aufsatz / Paper einer Konferenz etc.)
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