A new approach to the design of a gain scheduled linear parameter-varying (LPV) H ϱ controller, which places the closed-loop poles in the region that satisfies the specified dynamic response, for an n-joint rigid robotic manipulator, is presented. The nonlinear time-varying robotic manipulator is modeled to be a LPV system with a convex polytopic structure with the use of the LPV convex decomposition technique in a filter introduced. State feedback controllers, which satisfy the H ϱ performance and the closed-loop poleplacement requirements, for each vertex of the convex polyhedron parameter space, are designed with the use of the linear matrix inequality (LMI) approach. Based on these designed feedback controllers for each vertex, a LPV controller with a smaller on-line computation load and a convex polytopic structure is synthesized. Simulation and experiment results verify that the robotic manipulator with the LPV controller always has a good dynamic performance along with the variations of the joint positions.
A new method for establishing state equations, i.e., the branch replacement and augmented node-voltage equation approach, is proposed in this paper. The augmented node-voltage equation approach is a well-used analytical tool for linear networks in the S domain. A modified version of this approach is presented to establish time domain state equations. Compared with the conventional way of establishing state equations, this new approach is not only simple, but also easier for programming. Moreover, it is applicable to both linear and nonlinear networks.
Position control of a two-link manipulator can be achieved by using a Fuzzy Logic controllcr. A Fuzzy Logic softwarc, FIDE (Fuzzy Infcrcncc Development Environment) is used to design and model the controller. Iuvestigatiou is described that attempts to deinonstrate the beuefits of usiug that software for the design and implementation of the controller. A comparative study about the different methods of controllrr design with different parameters is performed. Finally a scheme is given which could achieve simultaneous control of the two links of the manipulator by using two independent controllers for the two joints.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.