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• W2040223148 abstract "This paper presents the first steps towards a robust model-based controller design for two-link manipulators using a Takagi Sugeno multimodel descriptor form. Due to the circumstances that this form is more similar to a given original nonlinear equation as a Takagi Sugeno multimodel, it allows to reduce the conservatism of the controller design by using common matrix structures. The model-based control law here is equivalent to the well-known parallel distributed compensation scheme. The challenge of the investigated modelling and control problem in this case is the highly nonlinear dynamics of the dual-actuator drive powered by air-pressure that interacts with the dynamics of the robot manipulator." @default.
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• W2040223148 date "2009-05-01" @default.
• W2040223148 modified "2023-09-26" @default.
• W2040223148 title "Descriptor modelling towards control of a two link pneumatic robot manipulator: A T–S multimodel approach" @default.
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• W2040223148 doi "https://doi.org/10.1016/j.nahs.2008.11.003" @default.
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