A Gain Scheduling Control of Nonlinear Systems along a Reference Trajectory
2005 (English)In: Proceedings of the 16th IFAC World Congress, 2005, 609-609 p.Conference paper (Refereed)
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.
Nonlinear control, Linearization, Tracking systems, Lyapunov function, Robot arms
Engineering and Technology Control Engineering
IdentifiersURN: urn:nbn:se:liu:diva-29529DOI: 10.3182/20050703-6-CZ-1902.00610Local ID: 14887ISBN: 978-3-902661-75-3OAI: oai:DiVA.org:liu-29529DiVA: diva2:250344
16th IFAC World Congress, Prague, Czech Republic, July, 2005