LPV control of two link flexible manipulator

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.