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

Research output: Contribution to conferencePaper

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.

Conference

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

Fingerprint

Robots
Controllers
Nonlinear systems
Tuning
Engineers

Keywords

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

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.
Cebeci, C. ; Grimble, M.J. ; Katebi, R. ; Recalde, L.F. / Restricted structure non-linear generalized minimum variance control of a 2-link robot arm. Paper presented at 12th UKACC International Conference on Control, Sheffield, United Kingdom.6 p.
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title = "Restricted structure non-linear generalized minimum variance control of a 2-link robot arm",
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.",
keywords = "RS-NGMV controller, two-link robot arm, non-linear systems",
author = "C. Cebeci and M.J. Grimble and R. Katebi and L.F. Recalde",
year = "2018",
month = "9",
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language = "English",
pages = "367--372",
note = "12th UKACC International Conference on Control, UKACC18 ; Conference date: 05-09-2018 Through 07-09-2018",
url = "https://control2018.group.shef.ac.uk/",

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Cebeci, C, Grimble, MJ, Katebi, R & Recalde, LF 2018, 'Restricted structure non-linear generalized minimum variance control of a 2-link robot arm' Paper presented at 12th UKACC International Conference on Control, Sheffield, United Kingdom, 5/09/18 - 7/09/18, pp. 367-372.

Restricted structure non-linear generalized minimum variance control of a 2-link robot arm. / Cebeci, C.; Grimble, M.J.; Katebi, R.; Recalde, L.F.

2018. 367-372 Paper presented at 12th UKACC International Conference on Control, Sheffield, United Kingdom.

Research output: Contribution to conferencePaper

TY - CONF

T1 - Restricted structure non-linear generalized minimum variance control of a 2-link robot arm

AU - Cebeci, C.

AU - Grimble, M.J.

AU - Katebi, R.

AU - Recalde, L.F.

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Y1 - 2018/9/5

N2 - 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.

AB - 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.

KW - RS-NGMV controller

KW - two-link robot arm

KW - non-linear systems

M3 - Paper

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ER -

Cebeci C, Grimble MJ, Katebi R, Recalde LF. Restricted structure non-linear generalized minimum variance control of a 2-link robot arm. 2018. Paper presented at 12th UKACC International Conference on Control, Sheffield, United Kingdom.