liu.seSearch for publications in DiVA
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
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
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.
2004 (English)Report (Other academic)
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
Linköping: Linköping University Electronic Press, 2004. , 6 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2654
Keyword [en]
Nonlinear control, Linearization, Tracking systems, Lyapunov function, Robot arms
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-56012ISRN: LiTH-ISY-R-2654OAI: oai:DiVA.org:liu-56012DiVA: diva2:316720
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-07-29Bibliographically approved

Open Access in DiVA

fulltext(176 kB)875 downloads
File information
File name FULLTEXT01.pdfFile size 176 kBChecksum SHA-512
2a093e9c7ffc4e28b249f68fe1c0465e3bb078dab9b6d7ff2a8a84ca6c6002dfee861872b326e591590580db668695a17ccbf86f99f7d429ae5e671e3112c5bb
Type fulltextMimetype application/pdf

Authority records BETA

Gunnarsson, SvanteNorrlöf, Mikael

Search in DiVA

By author/editor
Gunnarsson, SvanteNorrlöf, Mikael
By organisation
Automatic ControlThe Institute of Technology
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 875 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 98 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
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