Gain scheduling LQI controller design for LPV descriptor systems and motion control of two-link flexible joint robot manipulator
This paper proposes a gain scheduling linear quadratic integral (LQI) servo controller design, which is derived from linear quadratic regulator (LQR) optimal control, for non-singular linear parameter varying (LPV) descriptor systems. It is assumed that state space matrices are non-singular since ma...
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| Format: | Article |
| Language: | English |
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Balikesir University
2018-04-01
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| Series: | An International Journal of Optimization and Control: Theories & Applications |
| Subjects: | |
| Online Access: | http://ijocta.org/index.php/files/article/view/564 |
| _version_ | 1797920576081231872 |
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| author | Yusuf Altun |
| author_facet | Yusuf Altun |
| author_sort | Yusuf Altun |
| collection | DOAJ |
| description | This paper proposes a gain scheduling linear quadratic integral (LQI) servo controller design, which is derived from linear quadratic regulator (LQR) optimal control, for non-singular linear parameter varying (LPV) descriptor systems. It is assumed that state space matrices are non-singular since many mechanical systems do not have any non-singular matrices such as the natural state space forms of robotic manipulator, pendulum and suspension systems. A controller design is difficult for the systems due to rational LPV case. Therefore, the proposed gain scheduling controller is designed without the difficulty. Accordingly, the motion control design is implemented for two-link flexible joint robotic manipulator. Finally, the control system simulation is performed to prove the applicability and performance. |
| first_indexed | 2024-04-10T14:03:19Z |
| format | Article |
| id | doaj.art-64e019677f0647419425583ddfe7924f |
| institution | Directory Open Access Journal |
| issn | 2146-0957 2146-5703 |
| language | English |
| last_indexed | 2024-04-10T14:03:19Z |
| publishDate | 2018-04-01 |
| publisher | Balikesir University |
| record_format | Article |
| series | An International Journal of Optimization and Control: Theories & Applications |
| spelling | doaj.art-64e019677f0647419425583ddfe7924f2023-02-15T16:10:10ZengBalikesir UniversityAn International Journal of Optimization and Control: Theories & Applications2146-09572146-57032018-04-018210.11121/ijocta.01.2018.00564Gain scheduling LQI controller design for LPV descriptor systems and motion control of two-link flexible joint robot manipulatorYusuf Altun0Duzce University, Engineering Faculty, Computer Engineering DepartmentThis paper proposes a gain scheduling linear quadratic integral (LQI) servo controller design, which is derived from linear quadratic regulator (LQR) optimal control, for non-singular linear parameter varying (LPV) descriptor systems. It is assumed that state space matrices are non-singular since many mechanical systems do not have any non-singular matrices such as the natural state space forms of robotic manipulator, pendulum and suspension systems. A controller design is difficult for the systems due to rational LPV case. Therefore, the proposed gain scheduling controller is designed without the difficulty. Accordingly, the motion control design is implemented for two-link flexible joint robotic manipulator. Finally, the control system simulation is performed to prove the applicability and performance.http://ijocta.org/index.php/files/article/view/564Robotic manipulator Gain scheduling LQR controller Descriptor system |
| spellingShingle | Yusuf Altun Gain scheduling LQI controller design for LPV descriptor systems and motion control of two-link flexible joint robot manipulator An International Journal of Optimization and Control: Theories & Applications Robotic manipulator Gain scheduling LQR controller Descriptor system |
| title | Gain scheduling LQI controller design for LPV descriptor systems and motion control of two-link flexible joint robot manipulator |
| title_full | Gain scheduling LQI controller design for LPV descriptor systems and motion control of two-link flexible joint robot manipulator |
| title_fullStr | Gain scheduling LQI controller design for LPV descriptor systems and motion control of two-link flexible joint robot manipulator |
| title_full_unstemmed | Gain scheduling LQI controller design for LPV descriptor systems and motion control of two-link flexible joint robot manipulator |
| title_short | Gain scheduling LQI controller design for LPV descriptor systems and motion control of two-link flexible joint robot manipulator |
| title_sort | gain scheduling lqi controller design for lpv descriptor systems and motion control of two link flexible joint robot manipulator |
| topic | Robotic manipulator Gain scheduling LQR controller Descriptor system |
| url | http://ijocta.org/index.php/files/article/view/564 |
| work_keys_str_mv | AT yusufaltun gainschedulinglqicontrollerdesignforlpvdescriptorsystemsandmotioncontroloftwolinkflexiblejointrobotmanipulator |