LPV-Based Adaptive Control of a 2-DOF Robotic Arm

This paper investigates the possibilities of combining nonlinear state estimation techniques with LPV gain scheduling control through a case study on a 2-DOF robotic arm. The prime motivation is the question of uncertain load, which is generally regarded as an exogenous disturbance, that significantly alters the system dynamics, therefore its estimation is desperately needed. The paper reveals promising results for an effective combination of nonlinear Kalman filters and the LPV framework. The proposed solution is validated in a simulation environment.