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A Gain Scheduling Control of Nonlinear Systems along a Reference Trajectory
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2005 (English)In: Proceedings of the 16th IFAC World Congress, 2005, 609-609 p.Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents a gain scheduling control of a nonlinear system in which the reference trajectory is given in advance. Multiple frozen operating times are chosen on the reference trajectory and a linear time invariant model is obtained at each operating time. A linear parameter varying model is then constructed by interpolating the region between the neighbor frozen operating times. A gain scheduling state feedback law is designed by a linear matrix inequality formulation. The effectiveness is demonstrated in a numerical simulation of a traing control of a two-link robot arm.

Place, publisher, year, edition, pages
2005. 609-609 p.
Keyword [en]
Nonlinear control, Linearization, Tracking systems, Lyapunov function, Robot arms
National Category
Engineering and Technology Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-29529DOI: 10.3182/20050703-6-CZ-1902.00610Local ID: 14887ISBN: 978-3-902661-75-3 (print)OAI: oai:DiVA.org:liu-29529DiVA: diva2:250344
Conference
16th IFAC World Congress, Prague, Czech Republic, July, 2005
Available from: 2009-10-09 Created: 2009-10-09 Last updated: 2013-03-24

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Gunnarsson, SvanteNorrlöf, Mikael

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Citation style
  • apa
  • harvard1
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  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
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Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf