Robust Gain-scheduling LPV Control for a Reconfigurable Robot

R. Al Saidi, S. Alirezaee

2022

Abstract

This paper develops a robust gain–scheduling linear parameter varying (LPV) control for a reconfigurable robot that combines as many properties of different open kinematic structures as possible and can be used for a variety of applications. The kinematic design parameters, i.e., the Denavit–Hartenberg (D–H) parameters, can be modified to satisfy any configuration required to meet a specific task. By varying the joint twist angle parameter (a configuration parameter), the presented model is reconfigurable to any desired open kinematic structure, such as ABB, FANUC and SCARA robotic systems. A robust LPV control is developed for on–line measured parameters of a perturbed LPV model of a Bosch Scara robot arm. This control achieves superior tracking performance in the presence of dynamic and parameter uncertainties.

Paper Citation

in Harvard Style

Al Saidi R. and Alirezaee S. (2022). Robust Gain-scheduling LPV Control for a Reconfigurable Robot. In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-585-2, pages 89-96. DOI: 10.5220/0011356000003271

in Bibtex Style

@conference{icinco22,
author={R. Al Saidi and S. Alirezaee},
title={Robust Gain-scheduling LPV Control for a Reconfigurable Robot},
booktitle={Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2022},
pages={89-96},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011356000003271},
isbn={978-989-758-585-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Robust Gain-scheduling LPV Control for a Reconfigurable Robot
SN - 978-989-758-585-2
AU - Al Saidi R.
AU - Alirezaee S.
PY - 2022
SP - 89
EP - 96
DO - 10.5220/0011356000003271