Restricted structure non-linear generalized minimum variance control of a 2-link robot arm
Cebeci, C. and Grimble, M.J. and Katebi, R. and Recalde, L.F. (2018) Restricted structure non-linear generalized minimum variance control of a 2-link robot arm. In: 12th UKACC International Conference on Control, 2018-09-05 - 2018-09-07, University of Sheffield.
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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.
ORCID iDs
Cebeci, C., Grimble, M.J., Katebi, R. ORCID: https://orcid.org/0000-0003-2729-0688 and Recalde, L.F. ORCID: https://orcid.org/0000-0002-3911-2857;-
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Item type: Conference or Workshop Item(Paper) ID code: 64946 Dates: DateEvent5 September 2018Published1 September 2018Published Online15 June 2018AcceptedSubjects: Technology > Electrical engineering. Electronics Nuclear engineering Department: Faculty of Engineering > Electronic and Electrical Engineering Depositing user: Pure Administrator Date deposited: 31 Jul 2018 10:17 Last modified: 28 Sep 2024 00:28 URI: https://strathprints.strath.ac.uk/id/eprint/64946