A Gain Scheduling Control of Nonlinear Systems along a Reference Trajectory

Authors:	Fujimori Atsushi, Shizuoka University, Japan Gunnarsson Svante, Linkoping University, Sweden Norrlof Mikael, Linkoping University, Sweden
Topic:	2.2 Linear Control Systems
Session:	Analysis and Synthesis of Linear Control Systems I
Keywords:	Nonlinear control, gain scheduling, LMI, tracking systems, robot arms

Abstract

This paper presents a gain scheduling control of a nonlinear system in which the reference trajectory is given in advance. Multiple frozen operating times are chosen on the reference trajectory and a linear time invariant model is obtained at each operating time. A linear parameter varying model is then constructed by interpolating the region between the neighbor frozen operating times. A gain scheduling state feedback law is designed by a linear matrix inequality formulation. The effectiveness is demonstrated in a numerical simulation of a tracking control of a two-link robot arm.