Abstract
In this paper, an observer based state feedback control law for linear parameter varying (LPV) systems represented via linear fractional transformations (LFTs) is synthesized for the control of the first axis of an industrial manipulator. Using parameter dependent Lyapunov functions, the induced ℒ2 performance of the observer and the state feedback can be guaranteed over the whole parameter space while taking into account a limited parameter variation rate. Parameter dependent weights allow for an adjustable performance over the workspace of the manipulator. The pole regions of the closed loop, frozen at certain parameter values, are assigned by introducing pole region constraints in the synthesis.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
