A Gain Scheduling Control of Nonlinear Systems along a Reference Trajectory
2004 (English)Report (Other academic)
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
Linköping: Linköping University Electronic Press, 2004. , 6 p.
LiTH-ISY-R, ISSN 1400-3902 ; 2654
Nonlinear control, Linearization, Tracking systems, Lyapunov function, Robot arms
IdentifiersURN: urn:nbn:se:liu:diva-56012ISRN: LiTH-ISY-R-2654OAI: oai:DiVA.org:liu-56012DiVA: diva2:316720