{"title":"二连杆机械臂的约束结构非线性广义最小方差控制","authors":"C. Cebeci, M. Grimble, R. Katebi, L. F. Recalde","doi":"10.1109/CONTROL.2018.8516851","DOIUrl":null,"url":null,"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.","PeriodicalId":266112,"journal":{"name":"2018 UKACC 12th International Conference on Control (CONTROL)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Restricted Structure Non-Linear Generalized Minimum Variance Control of a 2-Link Robot Arm\",\"authors\":\"C. Cebeci, M. Grimble, R. Katebi, L. F. Recalde\",\"doi\":\"10.1109/CONTROL.2018.8516851\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":266112,\"journal\":{\"name\":\"2018 UKACC 12th International Conference on Control (CONTROL)\",\"volume\":\"34 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2018-09-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2018 UKACC 12th International Conference on Control (CONTROL)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CONTROL.2018.8516851\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 UKACC 12th International Conference on Control (CONTROL)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CONTROL.2018.8516851","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Restricted Structure Non-Linear Generalized Minimum Variance Control of a 2-Link Robot Arm
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.
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