Descriptor modelling towards control of a two link pneumatic robot manipulator: A T-S multimodel approach

被引：11

作者：

Schulte, Horst ^{[2
]}

Guelton, Kevin ^{[1
]}

机构：

[1] Univ Reims, CReSTIC, F-51687 Reims 2, France

[2] Bosch Rexroth AG, D-89275 Elchingen, Germany

来源：

NONLINEAR ANALYSIS-HYBRID SYSTEMS | 2009年 / 3卷 / 02期

关键词：

Descriptor systems; Control oriented models; Multimodel; Takagi-Sugeno; Robotic manipulators; Fluid power system; FUZZY-SYSTEMS;

D O I：

10.1016/j.nahs.2008.11.003

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents the first steps towards a robust model-based controller design for two-link manipulators using a Takagi Sugeno multimodel descriptor form. Due to the circumstances that this form is more similar to a given original nonlinear equation as a Takagi Sugeno multimodel, it allows to reduce the conservatism of the controller design by using common matrix structures. The model-based control law here is equivalent to the well-known parallel distributed compensation scheme. The challenge of the investigated modelling and control problem in this case is the highly nonlinear dynamics of the dual-actuator drive powered by air-pressure that interacts with the dynamics of the robot manipulator. (C) 2008 Elsevier Ltd. All rights reserved.

引用

页码：124 / 132

页数：9

共 24 条

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[2]

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