Gain Scheduled LPVH? Control Based on LMI Approach for a Robotic Manipulator

DOI10.1002/rob.10062zbMath1026.70010OpenAlexW2062944516MaRDI QIDQ4805709

Peng-Yung Woo, Zhongwei Yu, Huitang Chen

Publication date: 8 May 2003

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.10062

zbMATH Keywords

robotic manipulatorlinear matrix inequality approachfeedback controllersclosed-loop pole-placementconvex decomposition techniqueconvex polyhedron parameter spacegain scheduled linear parameter-varying controller

Mathematics Subject Classification ID

(H^infty)-control (93B36) Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

Related Items (10)

Smooth Switching Output Tracking Control for LPV Systems ⋮ Robust state-feedback control of uncertain LPV systems: an LMI-based approach ⋮ Tracking control for lower limb rehabilitation robots based on polynomial nonlinear uncertain models ⋮ Stability and stabilization for LPV systems based on Lyapunov functions with non-monotonic terms ⋮ State estimation and decoupling of unknown inputs in uncertain LPV systems using interval observers ⋮ Model reference control of LPV systems ⋮ A new parametrization for static output feedback control of LPV discrete-time systems ⋮ Automated generation and comparison of Takagi-Sugeno and polytopic quasi-LPV models ⋮ Observer design with guaranteed RMS gain for discrete-time LPV systems with Markovian jumps ⋮ LMI-based design of state-feedback controllers for pole clustering of LPV systems in a union of 𝒟_R-regions

Cites Work

• On the Game Riccati Equations Arising in $H_\infty $ Control Problems
• A hamilton-jacobi setup for the static output feedback stabilization of nonlinear systems

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