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A Gain Scheduling C...
A Gain Scheduling Control of Nonlinear Systems along a Reference Trajectory
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- Fujimori, Atsushi (author)
- Linköpings universitet,Reglerteknik,Tekniska högskolan
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- Gunnarsson, Svante (author)
- Linköpings universitet,Reglerteknik,Tekniska högskolan
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- Norrlöf, Mikael, 1971- (author)
- Linköpings universitet,Reglerteknik,Tekniska högskolan
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(creator_code:org_t)
- Linköping : Linköping University Electronic Press, 2004
- English 6 s.
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Series: LiTH-ISY-R, 1400-3902 ; 2654
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Abstract
Subject headings
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- 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.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Keyword
- Nonlinear control
- Linearization
- Tracking systems
- Lyapunov function
- Robot arms
- Automatic control
- Reglerteknik
Publication and Content Type
- vet (subject category)
- rap (subject category)
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