Descriptor modelling towards control of a two link pneumatic robotmanipulator: A T-S multimodel approach

摘要

This paper presents the first steps towards a robust model-based controller design fortwo-link manipulators using a Takagi Sugeno multimodel descriptor form. Due to thecircumstances that this form is more similar to a given original nonlinear equation as aTakagi Sugeno multimodel, it allows to reduce the conservatism of the controller designby using common matrix structures. The model-based control law here is equivalent to thewell-known parallel distributed compensation scheme. The challenge of the investigatedmodelling and control problem in this case is the highly nonlinear dynamics of the dual-actuator drive powered by air-pressure that interacts with the dynamics of the robotmanipulator.