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Article Dans Une Revue Nonlinear Analysis: Hybrid Systems Année : 2009

Descriptor modelling toward control of two links pneumatic robot manipulator: a T-S multimodel approach

Résumé

This paper presents the first steps towards a robust model-based controller design for two-link manipulators using a Takagi Sugeno multimodel descriptor form. Due to the circumstances that this form is more similar to a given original nonlinear equation as a Takagi Sugeno multimodel, it allows to reduce the conservatism of the controller design by using common matrix structures. The model-based control law here is equivalent to the well-known parallel distributed compensation scheme. The challenge of the investigated modelling and control problem in this case is the highly nonlinear dynamics of the dual-actuator drive powered by air-pressure that interacts with the dynamics of the robot manipulator.
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Dates et versions

hal-00793237 , version 1 (21-02-2013)

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Horst Schulte, Kevin Guelton. Descriptor modelling toward control of two links pneumatic robot manipulator: a T-S multimodel approach. Nonlinear Analysis: Hybrid Systems, 2009, 3 (2), pp.124-132. ⟨10.1016/j.nahs.2008.11.003⟩. ⟨hal-00793237⟩

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