Output details
15 - General Engineering
University of Hull
Article title
An LPV pole-placement approach to friction compensation as an FTC problem
Type
D - Journal article
Title of journal
International Journal Of Applied Mathematics And Computer Science
Article number
-
Volume number
22
Issue number
1
First page of article
149
ISSN of journal
1641-876X
Year of publication
2012
URL
-
Number of additional authors
2
Additional information
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.
Interdisciplinary
-
Cross-referral requested
-
Research group
None
Proposed double-weighted
No
Double-weighted statement
-
Reserve for a double-weighted output
No
Non-English
No
English abstract
-
