Data-Driven LPV Reference Tracking for a Control Moment Gyroscope

Bloemers, Tom; Tóth, Roland; Oomen, Tom

doi:10.1016/j.ifacol.2019.12.360

Cited by 4 publications

(1 citation statement)

References 13 publications

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“…Due to the division by

scriptM false(q false)

to derive (36), the rather complicated rational trigonometrical expressions of

f_{1}, \dots, f_{4},

which all depend on

false(q_{2}, q_{3}, {\dot{q}}_{1}, {\dot{q}}_{2}, {\dot{q}}_{3} false),

and also

g_{1}, \dots, g_{4},

which depend on

false(q_{2}, q_{3} false),

are not given here. The interested reader can obtain them from the equations provided in [42]. (36) is a difficult NL model for which we would like to obtain a low complexity affine LPV model (Problem 1).…”

Section: Experimental Examplementioning

confidence: 99%

Affine linear parameter‐varying embedding of non‐linear models with improved accuracy and minimal overbounding

Sadeghzadeh

Sharif

Tóth

2020

IET Control Theory & Appl

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In this study, automated generation of linear parameter‐varying (LPV) state‐space models to embed the dynamical behaviour of non‐linear systems is considered, focusing on the trade‐off between scheduling complexity and model accuracy and the minimisation of the conservativeness of the resulting embedding. The LPV state‐space model is synthesised with affine scheduling dependency, while the scheduling variables themselves are non‐linear functions of the state and input variables of the original system. The method allows to generate complete or approximative embedding of the non‐linear system model and also it can be used to minimise the complexity of existing LPV embeddings. The capabilities of the method are demonstrated on simulation examples and also in an empirical case study where the first‐principle motion model of a three degrees of freedom (3DOF) control moment gyroscope is converted by the proposed method to an LPV model with low scheduling complexity. Using the resulting model, a gain‐scheduled controller is designed and applied on the gyroscope, demonstrating the efficiency of the developed approach.

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“…Due to the division by