Black-box versus grey-box LPV identification to control a mechanical system

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Autor/in:
Verlag/Körperschaft:
Hamburg University of Technology
Erscheinungsjahr:
2012
Medientyp:
Text
Schlagworte:
  • 600: Technik
  • 620: Ingenieurwissenschaften
Beschreibung:
  • This paper presents a comparison of black-box and grey-box linear parameter varying (LPV) identification techniques to control a mechanical systems. It is illustrated by a practical example that if a physical model of a system is not available or too complicated for controller synthesis, black-box identification techniques may lead to a model and controller which achieves a reasonable performance. As an application, a black-box LPV model of a three-degrees-of- freedom robotic manipulator is identified experimentally from a sufficiently reach input-output data set. After model validation, a polytopic gain-scheduled LPV controller is designed for both models. Another LPV controller is designed based on a grey-box model. To compare the performance of the designed controllers, they are implemented on the manipulator to do a trajectory tracking task. In addition, an inverse dynamics and a PD controller are also implemented for comparison. It is shown that back-box LPV identification can potentially give reasonable performance, but not as high as grey-box modelling. © 2012 IEEE.
Beziehungen:
DOI 10.1109/CDC.2012.6426536
Quellsystem:
TUHH Open Research
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oai:tore.tuhh.de:11420/14760