Accordingly, the motioncontrol design is implemented for two-link flexible joint robotic manipulator.Finally, the control system simulation is performed to prove the applicability andperformance.
📌 3 Key Takeaways
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Objective & Hypothesis:This paper proposes a gain scheduling linear quadratic integral (LQI) servocontroller design, which is derived from linear quadratic regulator (LQR) optimalcontrol, for non-singular linear parameter varying (LPV) descriptor systems.
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Key Findings & Data:It isassumed that state space matrices are non-singular since many mechanical systemsdo not have any non-singular matrices such as the natural state space forms ofrobotic manipulator, pendulum and suspension systems.
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Conclusion & Impact:Accordingly, the motioncontrol design is implemented for two-link flexible joint robotic manipulator.Finally, the control system simulation is performed to prove the applicability andperformance.
🔬Design:Research Article
📍Scope:Comprehensive Sample
⚙️Variables:Domain Parameters
Abstract
This paper proposes a gain scheduling linear quadratic integral (LQI) servocontroller design, which is derived from linear quadratic regulator (LQR) optimalcontrol, for non-singular linear parameter varying (LPV) descriptor systems. It isassumed that state space matrices are non-singular since many mechanical systemsdo not have any non-singular matrices such as the natural state space forms ofrobotic manipulator, pendulum and suspension systems. A controller design isdifficult for the systems due to rational LPV case. Therefore, the proposed gainscheduling controller is designed without the difficulty. Accordingly, the motioncontrol design is implemented for two-link flexible joint robotic manipulator.Finally, the control system simulation is performed to prove the applicability andperformance.
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Cite This Article
ALTUN, Y. (2022). 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 (IJOCTA), Cilt: 8 - Sayı: 2, 201–207. https://ajindex.com/articles/440640
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