Gain scheduling LQI controller design for LPV descriptor systems and motion control of two-link flexible joint robot manipulator

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.