TY - GEN
T1 - An observer based state feedback LFT LPV controller for an industrial manipulator
AU - Saupe, Florian
AU - Pfifer, Harald
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
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U2 - 10.3182/20120620-3-DK-2025.00017
DO - 10.3182/20120620-3-DK-2025.00017
M3 - Conference contribution
AN - SCOPUS:84866059754
SN - 9783902823038
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
SP - 337
EP - 342
BT - ROCOND'12 - 7th IFAC Symposium on Robust Control Design
PB - IFAC Secretariat
T2 - 7th IFAC Symposium on Robust Control Design, ROCOND'12
Y2 - 20 June 2012 through 22 June 2012
ER -