An observer based state feedback LFT LPV controller for an industrial manipulator

Florian Saupe, Harald Pfifer

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

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.

Original languageEnglish (US)
Title of host publicationROCOND'12 - 7th IFAC Symposium on Robust Control Design
PublisherIFAC Secretariat
Pages337-342
Number of pages6
EditionPART 1
ISBN (Print)9783902823038
DOIs
StatePublished - 2012
Event7th IFAC Symposium on Robust Control Design, ROCOND'12 - Aalborg, Denmark
Duration: Jun 20 2012Jun 22 2012

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
Volume7
ISSN (Print)1474-6670

Other

Other7th IFAC Symposium on Robust Control Design, ROCOND'12
CountryDenmark
CityAalborg
Period6/20/126/22/12

Bibliographical note

Copyright:
Copyright 2021 Elsevier B.V., All rights reserved.

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