Design of a Gain Scheduling Control Based on Linear Matrix Inequalities for a Dynamic System

Author

Rodriguez, E.J.A. ; Rosas, R.A.P.

Author_Institution

Univ. Pedagogica y Tecnol. de Colombia, Sogamoso, Colombia

Volume

10

Issue

2

fYear

2012

fDate

3/1/2012 12:00:00 AM

Firstpage

1459

Lastpage

1465

Abstract

This article explains the obtaining of a dynamic system which corresponds to a manipulator with two degrees of freedom "Elbow", which shows the linearization around several operating points of nonlinear system. Also indicate how the combined strategy and apply the gain scheduling with linear matrix inequalities (LMI\´s). The simulation of non-linear system was performed with a block called S-Functions and the control law was made in simulink of MATLAB^® software. The animation of the dynamic system with the controller was done with software Easy Java Simulation (EJS).

Keywords

Java; control system synthesis; gain control; linear matrix inequalities; manipulators; mathematics computing; nonlinear systems; scheduling; EJS software; Easy Java Simulation software; Elbow manipulator; MATLAB software; S-Functions; Simulink; control law; controller; dynamic system animation; gain scheduling control design; linear matrix inequalities; nonlinear system; two degrees of freedom; Application software; Elbow; Java; Laboratories; Mathematical model; Robots; Elbow; control; gain scheduling; linear matrix inequalities; linearization; operation point; robot;

fLanguage

English

Journal_Title

Latin America Transactions, IEEE (Revista IEEE America Latina)

Publisher

ieee

ISSN

1548-0992

Type

jour

DOI

10.1109/TLA.2012.6187587

Filename

6187587