This letter extends previous results on constrained optimization control problems of uncertain robot systems based on sliding modes generation. An equivalent linear parameter varying (LPV) state-space representation of the nonlinear robot model is considered to design a stabilizing state-feedback control law by solving linear matrix inequalities (LMI) with structural constraints. The finite-time regulation of the state trajectory to a desired reference, while minimizing a pre-specified cost function with state constraints, is then solved by a sliding mode approach relying on the considered parameter-dependent structure of the robot system. Stability conditions of the proposed approach are provided, and a realistic numerical example verifies the effectiveness of the proposed technique.
Sliding Mode Optimization in Robot Dynamics with LPV Controller Design
Ferrara A.;
2022-01-01
Abstract
This letter extends previous results on constrained optimization control problems of uncertain robot systems based on sliding modes generation. An equivalent linear parameter varying (LPV) state-space representation of the nonlinear robot model is considered to design a stabilizing state-feedback control law by solving linear matrix inequalities (LMI) with structural constraints. The finite-time regulation of the state trajectory to a desired reference, while minimizing a pre-specified cost function with state constraints, is then solved by a sliding mode approach relying on the considered parameter-dependent structure of the robot system. Stability conditions of the proposed approach are provided, and a realistic numerical example verifies the effectiveness of the proposed technique.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
