LPV control of two link flexible manipulator
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Date
2006.
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Thesis (M.S.)-Bogazici University. Institute for Graduate Studies in Science and Engineering, 2006.
Abstract
This thesis is concerned with the design of controllers for Linear Parameter Varying (LPV) systems in nonsingular descriptor form using a parameter dependent Lyapunov function. The systems considered are in the form of nonsingular descriptor systems. It is shown that, the synthesis of an LPV controller can be solved with- out matrix inversions generally occuring in the dynamic state-space equations. This gives simpler solvability conditions and a more natural parameter selection opportu- nity. Moreover, for mechanical systems, this form is naturally obtained through the Lagrangian formulation. A common and challenging °exible two link manipulator control problem is used as a benchmark tool for LPV control with constant Lyapunov functions and parameter dependent Lyapunov functions. The di±culty of control problem, mainly arises from the lightly damped vibrational modes of the manipulators.