Dynamic output feedback control of quasi-LPV mechanical systems

Polat, Ilhan; Eşkinat, Eşref; Köse, İ. Emre

doi:10.1049/iet-cta:20060326

Cited by 33 publications

(30 citation statements)

References 16 publications

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“…The third type is the most common, whereof any dynamics is non-linear in nature, but its state consists of two discernible time-scales. In LPV control, the slow-time state variables play scheduling parameters in the meantime, so that the non-linear dynamics can be represented as a LPV plant [12][13][14][15][16]. On grounds of electromechanical principles and through continuous trialand-errors, we find that the third type of LPV modelling suits for parameterisation of the EB DC-propulsion.…”

Section: Introductionmentioning

confidence: 93%

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Game‐theoretic linear parameter‐varying control with multiple L ₂ ‐gain objectives upon energy‐motion regulation of electric bikes propulsion

Hong

Lin

et al. 2013

IET Control Theory & Applications

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For electric bikes, this work develops linear parameter-varying (LPV) game-theoretic synthesis to regulate the trade-off between energy consumption per distance and propulsion capability in transience. Such a regulation plays like the transmission in transient state, compared to the gear transmission in steady state. Here, the propulsion dynamics is identified with LPV parameterisation that perfectly captures the non-linearity of the dynamics. Incorporation of this LPV plant with per-distance energy-motion performance forms a generalised plant with multiple L 2 -gain objectives. This generalised plant is specially constructed such that energy and motion objectives can share the same control and estimation storages without bringing conservatism to numerical solutions. Embedding the transient transmission into a dsPIC microcontroller, the authors simulate and experiment to credit such a LPV parameterisation and game-theoretic control for DC electric propulsion.

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Section: Introductionmentioning

confidence: 93%

“…Although the generalised plant in (13) and the to-be-found feedback are non-linear in nature, LPV control technology can be employed as the tire speed ω plays as the slow-time gain-scheduling parameter and simultaneously one state variable.…”

Section: Generalised Plantmentioning

confidence: 99%

Game‐theoretic linear parameter‐varying control with multiple L ₂ ‐gain objectives upon energy‐motion regulation of electric bikes propulsion

Hong

Lin

et al. 2013

IET Control Theory & Applications

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“…In cases where this would not be possible, other approaches may be viable, e.g. output-feedback controller synthesis [68,229,279] or IO controller synthesis [7,8,349].…”

Section: Control Of Lpv and Ts Systemsmentioning

confidence: 99%

“…However, the design of controllers for LPV systems has been usually performed under the assumption that there was no model uncertainty. Only a few papers have stated the importance of considering robustness against uncertainty [3,15,16,20,33,74,229,309,315,352]. In recent years, works dealing with inexactly measured parameters have been an important field of research.…”

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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“…In [34], LPV control is performed by converting equivalent to a rational LPV system. In [35], general H∞ LPV control is designed for the non-singular descriptor flexible robotic manipulator. Thus, the designs in above papers are mostly for the singular LPV systems.…”

confidence: 99%

Gain scheduling LQI controller design for LPV descriptor systems and motion control of two-link flexible joint robot manipulator

Altun

2018

Int. J. Optim. Control, Theor. Appl. (IJOCTA)

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This paper proposes a gain scheduling linear quadratic integral (LQI) servo controller design, which is derived from linear quadratic regulator (LQR) optimal control, for non-singular linear parameter varying (LPV) descriptor systems. It is assumed that state space matrices are non-singular since many mechanical systems do not have any non-singular matrices such as the natural state space forms of robotic manipulator, pendulum and suspension systems. A controller design is difficult for the systems due to rational LPV case. Therefore, the proposed gain scheduling controller is designed without the difficulty. Accordingly, the motion control design is implemented for two-link flexible joint robotic manipulator. Finally, the control system simulation is performed to prove the applicability and performance.

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Dynamic output feedback control of quasi-LPV mechanical systems

Cited by 33 publications

References 16 publications

Game‐theoretic linear parameter‐varying control with multiple L ₂ ‐gain objectives upon energy‐motion regulation of electric bikes propulsion

Game‐theoretic linear parameter‐varying control with multiple L ₂ ‐gain objectives upon energy‐motion regulation of electric bikes propulsion

Advances in Gain-Scheduling and Fault Tolerant Control Techniques

Gain scheduling LQI controller design for LPV descriptor systems and motion control of two-link flexible joint robot manipulator

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Dynamic output feedback control of quasi-LPV mechanical systems

Cited by 33 publications

References 16 publications

Game‐theoretic linear parameter‐varying control with multiple L 2 ‐gain objectives upon energy‐motion regulation of electric bikes propulsion

Game‐theoretic linear parameter‐varying control with multiple L 2 ‐gain objectives upon energy‐motion regulation of electric bikes propulsion

Advances in Gain-Scheduling and Fault Tolerant Control Techniques

Gain scheduling LQI controller design for LPV descriptor systems and motion control of two-link flexible joint robot manipulator

Contact Info

Product

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Game‐theoretic linear parameter‐varying control with multiple L ₂ ‐gain objectives upon energy‐motion regulation of electric bikes propulsion

Game‐theoretic linear parameter‐varying control with multiple L ₂ ‐gain objectives upon energy‐motion regulation of electric bikes propulsion