| Title |
Regulation Control of Two-Link Robot Arm with the Input Constraint using Sum of Squares Method |
| Authors |
정진강(Jeong, Jin-Gang) ; 좌동경(Chwa, Dongkyoung) |
| DOI |
https://doi.org/10.5370/KIEE.2016.65.7.1270 |
| Keywords |
Sum of squares ; Two-link robot arm ; Input constraint |
| Abstract |
This paper proposes the controller design for regulation control of two-link robot arm using sum of squares (SOS) control method that takes into account the input constraint. The existing studies of two link robotic arm system used a linear model of all the non-linearity of the system is linearized. For a linear controller, since the model of the system is simplified, it is possible to design a controller in consideration of constraints on the disturbance. However, there is a limit to the performance using a linearized model for a system with a complex nonlinear properties. To compensate for this in the case of using a fuzzy LMI method, it is necessary to have a large number of linear models and thus there is a disadvantage that the system becomes complicated. To solve these problems, we represents a two-link robot arm system with a polynomial model using a Taylor series expansion and design the controller considering the case where the magnitude of the control input is limited using SOS method. We demonstrate by simulations the feasibility of the proposed algorithm. |