Gain scheduling LQI controller design for LPV descriptor systems and motion control of two-link flexible joint robot manipulator

Yusuf Altun

doi:10.11121/ijocta.01.2018.00564

Authors

Yusuf Altun Duzce University, Engineering Faculty, Computer Engineering Department http://orcid.org/0000-0002-2099-0959

DOI:

https://doi.org/10.11121/ijocta.01.2018.00564

Keywords:

Robotic manipulator Gain scheduling LQR controller Descriptor system

Abstract

This paper proposes a gain scheduling linear quadratic integral (LQI) servo controller design, which is derived from linear quadratic regulator (LQR) optimal control, for non-singular linear parameter varying (LPV) descriptor systems. It is assumed that state space matrices are non-singular since many mechanical systems do not have any non-singular matrices such as the natural state space forms of robotic manipulator, pendulum and suspension systems. A controller design is difficult for the systems due to rational LPV case. Therefore, the proposed gain scheduling controller is designed without the difficulty. Accordingly, the motion control design is implemented for two-link flexible joint robotic manipulator. Finally, the control system simulation is performed to prove the applicability and performance.

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