Restricted structure non-linear generalized minimum variance control of a 2-link robot arm

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Abstract

The objective of this paper is to propose a restricted structure non-linear generalized minimum variance (RS-NGMV) controller for a two-link robot arm. The NGMV control is a useful method for offering control solutions for nonlinear systems. The motivation is to provide the advantages of NGMV control inside a low-order controller structure with an intention to enable design simplicity and easy implementation for engineers with classical training. The result will be an optimal controller with simple tuning variables. Simulations of the RS-NGMV controller are presented using Matlab/Simulink.
Original languageEnglish
Pages367-372
Number of pages6
Publication statusPublished - 5 Sep 2018
Event12th UKACC International Conference on Control - University of Sheffield, Sheffield, United Kingdom
Duration: 5 Sep 20187 Sep 2018
https://control2018.group.shef.ac.uk/

Conference

Conference12th UKACC International Conference on Control
Abbreviated titleUKACC18
CountryUnited Kingdom
CitySheffield
Period5/09/187/09/18
Internet address

Keywords

  • RS-NGMV controller
  • two-link robot arm
  • non-linear systems

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  • Cite this

    Cebeci, C., Grimble, M. J., Katebi, R., & Recalde, L. F. (2018). Restricted structure non-linear generalized minimum variance control of a 2-link robot arm. 367-372. Paper presented at 12th UKACC International Conference on Control, Sheffield, United Kingdom.