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Restricted Structure Non-Linear Generalized Minimum Variance Control of a 2-Link Robot Arm
2018
2018 UKACC 12th International Conference on Control (CONTROL)
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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
doi:10.1109/control.2018.8516851
fatcat:jfnhmpclungfnakx4z3mtcyqza