Control design for LPV systems with input saturation and state constraints: An application to a semi-active suspension

Do, Anh-Lam; Silva, J.M. Gomes da; Sename, Olivier; Dugard, Luc

doi:10.1109/cdc.2011.6160921

Cited by 27 publications

(20 citation statements)

References 20 publications

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“…Another interesting problem is the control of LPV systems with input saturation (see, for instance, [11,34]). Here we propose a solution based on the idea that, since the Youla-Kucera parameter can be any stable operator that maps the signal o(t) to the signal v(t), it can be exploited to achieve override control, [12].…”

Section: Youla-kucera Parameter As An Input Limiter For Constrained Smentioning

confidence: 99%

On the LPV Control Design and Its Applications to Some Classes of Dynamical Systems

Blanchini

Casagrande

Giordano

et al. 2015

Developments in Model-Based Optimization and Control

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Section: Youla-kucera Parameter As An Input Limiter For Constrained Smentioning

confidence: 99%

On the LPV Control Design and Its Applications to Some Classes of Dynamical Systems

Blanchini

Casagrande

Giordano

et al. 2015

Developments in Model-Based Optimization and Control

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“…This difference is usually referred to as controller windup [18] and can result in a significant performance degradation, large overshoots and even instability, if saturations are not taken into account properly [77,327].…”

Section: Graceful Performance Degradation In Presence Of Actuator Satmentioning

confidence: 99%

“…The effects of saturations on the control loop could be performance degradation, large overshoot and possible instability in spite of satisfactory performances predicted from the linear design [77,327]. While the system analysis, including saturated actuators, is relatively easy, the controller synthesis problem in presence of input nonlinearities is a much more involved task.…”

Section: Introductionmentioning

confidence: 99%

Advances in Gain-Scheduling and Fault Tolerant Control Techniques

Rotondo¹

2018

Springer Theses

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This thesis presents some contributions to the state-of-the-art of the fields of gainscheduling and fault tolerant control (FTC).In the area of gain-scheduling, the connections between the linear parameter varying (LPV) and Takagi-Sugeno (TS) paradigms are analyzed, showing that the methods for the automated generation of models by nonlinear embedding and by sector nonlinearity, developed for one class of systems, can be easily extended to deal with the other class. Then, two measures, based on the notions of overboundedness and region of attraction estimates, are proposed in order to compare different models and choose which one can be considered the best one. Later, the problem of designing state-feedback controllers for LPV systems has been considered, providing two main contributions. First, robust LPV controllers that can guarantee some desired performances when applied to uncertain LPV systems are designed, by using a double-layer polytopic description that takes into account both the variability due to the varying parameter vector and the uncertainty. Then, the idea of designing the controller in such a way that the required performances are scheduled by the varying parameters is explored, which provides an elegant way to vary online the behavior of the closed-loop system. In both cases, the problem reduces to finding a solution to a finite number of linear matrix inequalities (LMIs), which can be done efficiently using the available solvers.In the area of fault tolerant control, the thesis first shows that the aforementioned double-layer polytopic framework can be used for FTC, in such a way that different strategies (passive, active and hybrid) are obtained depending on the amount of available information. Later, an FTC strategy for LPV systems that involves a reconfigured reference model and virtual actuators is developed. It is shown that by including the saturations in the reference model equations, it is possible to design a model reference FTC system that automatically retunes the reference states whenever the system is affected by saturation nonlinearities. In this way, a graceful performance degradation in presence of actuator saturations is incorporated in an elegant way. Finally, the problem of FTC of unstable LPV systems subject to actuator saturations is considered. In this case, the design of the virtual actuator is performed in such a way that the convergence of the state trajectory to zero is assured despite the saturations and the appearance of faults. Also, it is shown that it is possible to obtain some guarantees about the tolerated delay between the fault occurrence and its isolation, and that the nominal controller can be designed so as to maximize the tolerated delay.i Resum Aquesta tesi presenta diverses contribucions a l'estat de l'art del control per planificació del guany i del control tolerant a fallades (FTC).Pel que fa al control per planificació del guany, s'analitzen les connexions entre els paradigmes dels sistemes lineals a paràmetres variants en el temps (LPV) i d...

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“…This allows application of Lemma even when Assumption is not satisfied for system , and one wants to avoid imposing Assumption on the controller matrices. This technique is used frequently throughout the literature, for instance in . The idea is to sandwich a fully gain‐scheduled controller of the form and between the two filters

\begin{matrix} right {\dot{x}}_{u} & left = A_{f u} (ξ) x_{u} + B_{f u} ũ, & right \\ right u & left = C_{f u} x_{u} \end{matrix}

and

\begin{matrix} right {\dot{x}}_{y} & left = A_{f y} (ξ) x_{y} + B_{f y} y, & right \\ right \tilde{y} & left = C_{f y} x_{y}, \end{matrix}

where we allow the matrices A f u and A f y to depend on the parameter ξ .…”

Section: State Augmentation – Attempts At Removing Assumptions 1 Andmentioning

confidence: 99%

Pre‐filtering and post‐filtering in gain‐scheduled output‐feedback control

Sehr

Oliveira

2016

Intl J Robust & Nonlinear

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Summary Linear matrix inequality (LMI) design conditions for gain‐scheduled output‐feedback H∞ control rely on assumptions constraining either system or controller matrices. Throughout the literature, it is common practice to avoid imposing restrictive assumptions on the controller, which may appear undesirable, in favor of state augmentations via pre‐filtering and post‐filtering to construct auxiliary augmented systems that comply with the alternative assumptions on the system matrices. This technique brings in the additional cost of increased state dimensions of the resulting gain‐scheduled output‐feedback controllers. In this paper, we explore the interplay and inherent trade‐offs between state augmentation, controller structure, and performance. We revisit LMI design conditions for quadratic output‐feedback H∞ control and demonstrate that state augmentation via pre‐filtering and post‐filtering in order to avoid constraints on the controller matrices is never advantageous even without taking into account the added complexity and propensity for numerical issues associated with state augmentation. As an additional contribution, we extend this observation to recently introduced modified LMI conditions allowing combined – however less restrictive – assumptions on system and controller matrices. Copyright © 2016 John Wiley & Sons, Ltd.

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Control design for LPV systems with input saturation and state constraints: An application to a semi-active suspension

Cited by 27 publications

References 20 publications

On the LPV Control Design and Its Applications to Some Classes of Dynamical Systems

On the LPV Control Design and Its Applications to Some Classes of Dynamical Systems

Advances in Gain-Scheduling and Fault Tolerant Control Techniques

Pre‐filtering and post‐filtering in gain‐scheduled output‐feedback control

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