A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
A Set of Stabilizing PD Controllers: An Application to Robot Manipulator
Abstract This paper considers the problem of designing a class of stabilizing proportional derivative (PD) controllers for multi-input multi-output (MIMO) nonlinear systems. For a MIMO nonlinear system a set of stabilizing PD controllers were designed for each subsystem. The design approach is based on PD stabilization theorem derived from generalized result of the classical Hermite Biehler theorem. By considering the nonlinear terms as interconnections, a linear matrix inequalities optimization problem is formulated to ensure the stability of the composite nonlinear system with the designed decentralized controller parameters. A genetic algorithm based search technique is adopted to select an optimal PD controller gain from a search space of stabilizing controllers in order to have an optimum value of performance index. A two-link robot manipulator system is considered to show the effectiveness of the design procedure.
A Set of Stabilizing PD Controllers: An Application to Robot Manipulator
Abstract This paper considers the problem of designing a class of stabilizing proportional derivative (PD) controllers for multi-input multi-output (MIMO) nonlinear systems. For a MIMO nonlinear system a set of stabilizing PD controllers were designed for each subsystem. The design approach is based on PD stabilization theorem derived from generalized result of the classical Hermite Biehler theorem. By considering the nonlinear terms as interconnections, a linear matrix inequalities optimization problem is formulated to ensure the stability of the composite nonlinear system with the designed decentralized controller parameters. A genetic algorithm based search technique is adopted to select an optimal PD controller gain from a search space of stabilizing controllers in order to have an optimum value of performance index. A two-link robot manipulator system is considered to show the effectiveness of the design procedure.
A Set of Stabilizing PD Controllers: An Application to Robot Manipulator
Leena, G. (author) / Datta, K. B. (author) / Ray, G. (author)
2014-07-08
9 pages
Article (Journal)
Electronic Resource
English
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