Output details
15 - General Engineering
University of Hull
An LPV pole-placement approach to friction compensation as an FTC problem
The novel combination of Linear Parameter Varying (LPV) estimation and LPV control is proposed for fault tolerant control problems. The challenge of the robot manipulator problem is that the dynamics have no unique equilibria (or stationary values) and hence a time-varying (or LPV) linearization strategy is more appropriate than a linear model (as in the classical sliding mode case). The non-linear two-link manipulator example with friction in each joint, shows that the effect of friction can be compensated by the LPV friction estimation and FTC action, giving significantly more accurate position control – a critical requirement in precision robotic systems.