TY - JOUR
ID - 4859
TI - Polytopic Linear Models-Based Output Tracking Control of a Single-Link Flexible Joint Robot Manipulator
JO - AUT Journal of Modeling and Simulation
JA - MISCJ
LA - en
SN - 2588-2953
AU - Rajabi, Reza
AU - Jahangiri, Fatemeh
AD - Department of Electrical Engineering, Shahid Beheshti University, Tehran, Iran.
Y1 - 2022
PY - 2022
VL - 54
IS - 1
SP - 45
EP - 58
KW - Polytopic linear models
KW - Output tracking problem
KW - Axis oblique decomposition
KW - Flexible joint
DO - 10.22060/miscj.2022.21076.5270
N2 - In this paper, to solve the output tracking problem of a single-link flexible joint manipulator, Polytopic Linear Models (PLMs) of the dynamics are made to take advantage of this method. Although linear control methods are very useful due to their powerful theories and simplicity, they can only be used in a neighborhood of the equilibrium point. One way to solve this problem is a PLMs-based method that linearizes the dynamics around several operating points. Therefore, in this paper, after calculating the PLMs of the manipulator, a state feedback control is applied to the derived linear dynamics that are augmented with the dynamics of the output tracking error. An extended method is used to decompose the scheduling space to construct PLMs, which is the segregation method improved with an extra aggregation. In order to avoid creating a large number of local models, an axis-oblique decomposition strategy is used instead of an axis-orthogonal decomposition. In addition, the scheduling functions of the PLMs are determined such that overlaps between the regions are avoided. By this selection, the output tracking problem becomes as a Linear Matrix Inequality (LMI) problem instead of a bilinear matrix inequality problem, which is more difficult to solve and may not lead to an optimal global solution.
UR - https://miscj.aut.ac.ir/article_4859.html
L1 - https://miscj.aut.ac.ir/article_4859_a806734fc4e5d8ca9234a8c4c1607b80.pdf
ER -