Representing the model of impedance controlled robot interaction with feedback delay in polytopic LPV form: TP model transformation based approach

Péter Galambos, P. Baranyi

Research output: Contribution to journalArticle

12 Citations (Scopus)

Abstract

The aim of this paper is to transform the model of the impedance controlled robot interaction with feedback delay to a Tensor Product (TP) type polytopic LPV model whereupon Linear Matrix Inequality (LMI) based control design can be immediately executed. The paper proves that the impedance model can be exactly represented by a finite element TP type polytopic model under certain constrains. The paper also determines various further TP models with different advantages for control design. First, it derives the exact Higher Order Singular Value Decomposition (HOSVD) based canonical form, then it performs complexity trade-off to yield a model with less number of components but rather effective for LMI design. Then the paper presents various different types of convex TP model representations based on the non-exact model in order to investigate how convex hull manipulation can be performed on the model. Finally the presented models are analyzed to validate the accuracy of the transformation and the resulting TP type polytopic LPV models. The paper concludes that these prepared models are ready for convex hull manipulation and LMI based control design.

Original languageEnglish
Pages (from-to)139-157
Number of pages19
JournalActa Polytechnica Hungarica
Volume10
Issue number1
Publication statusPublished - 2013

Fingerprint

Tensors
Robots
Feedback
Linear matrix inequalities
Singular value decomposition

Keywords

  • Complience control
  • Haptics
  • Impedance conrol
  • LPV/qLPV modeling
  • Telemanipulation
  • Time delay

ASJC Scopus subject areas

  • General
  • Engineering(all)

Cite this

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