Quasi‐Min‐Max Model Predictive Control for Image‐Based Visual Servoing with Tensor Product Model Transformation

Wang, T. T.; Xie, Wenfang; Liu, G. D.; Zhao, Yizhang

doi:10.1002/asjc.871

Cited by 41 publications

(38 citation statements)

References 33 publications

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“…In turn, the singular values serve as a measure to trade off between the accuracy and complexity of the resulting model [9]. Recent directions in TP model control can be found in [10], [11], [12], [13], [14], [15], [16], [17], [18], [19].…”

Section: Introductionmentioning

confidence: 99%

Robust Grid Point-Based Control Design for LPV Systems via Unified TP Transformation

Takarics

Yam

2015

2015 IEEE International Conference on Systems, Man, and Cybernetics

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Abstract-The paper considers a general approach for linear parameter varying (LPV) control. The approach is based on polytopic representation of the LPV system. First, a grid point based control design is applied for a set of linearized models of the LPV system. The design is based on linear time invariant (LTI) techniques. Such control design allows a larger flexibility in the controller structure than the conventional parallel distributed compensation (PDC) based polytopic control. The LPV controller is obtained by linear interpolation between the LTI controllers. The paper proposes linear matrix inequality (LMI) based convex optimization for robustness analysis of the resulting controller. The approach requires the plant and the controller to be defined by a common polytopic structure. It is proposed to obtain this common structure via unified TP model transformation. A simple numerical example shows the efficiency of the proposed control design approach.

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Section: Introductionmentioning

confidence: 99%

Robust Grid Point-Based Control Design for LPV Systems via Unified TP Transformation

Takarics

Yam

2015

2015 IEEE International Conference on Systems, Man, and Cybernetics

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“…One can find several applications and related work for TP model transformation in [16,17,18,19,20,21,22,23,24,25,26,27,28] [29,30,31,32], thus leading to pioneering conceptual frameworks.…”

Section: Introductionmentioning

confidence: 99%

Friction Compensation in TP Model Form - AeroelasticWing as an Example System

Takarics¹,

Bárányi

2015

APH

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The aim of this paper is to fit the friction compensation problem in the field of modern polytopic and Linear Matrix Inequality (LMI) based control design methodologies. The paper proves that the exact Tensor Product (TP) type polytopic representations of most commonly utilized friction models such as Coulomb, Stribeck and LuGre exist. The paper also determines and evaluates these TP models via a TP model transformation. The conceptual use of the TP model of the friction is demonstrated via a complex control design problem of a 2D aeroelastic wing section. The paper shows how the friction model and the model of the aeroelastic wing section can be merged and transformed to a TP type polytopic model -by TP model transformation -whereupon LMI based control performance optimization can immediately be executed to yield an observer based output feedback control solution to given specifications. The example is evaluated via numerical simulations.

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“…The results of the previous section are appropriate for system matrices S(p) of (q)LPV models (9). By defining the inner product and norm for F, G ∈ S system matrices as…”

Section: Application For Lpv/qlpv Modelsmentioning

confidence: 99%

“…Then the closed-loop system is stable if there exist X ∈ R (68) For more complex examples that apply other polytopic model generation, manipulation methods, and controller design techniques, see papers [9,11,13,16,30].…”

Section: Numerical Examplementioning

confidence: 99%

Affine Tensor Product Model Transformation

Kuti

Galambos

2018

Complexity

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This paper introduces the novel concept of Affine Tensor Product (TP) Model and the corresponding model transformation algorithm. Affine TP Model is a unique representation of Linear Parameter Varying systems with advantageous properties that makes it very effective in convex optimization-based controller synthesis. The proposed model form describes the affine geometric structure of the parameter dependencies by a nearly minimum model size and enables a systematic way of geometric complexity reduction. The proposed method is capable of exact analytical model reconstruction and also supports the samplingbased numerical approach with arbitrary discretization grid and interpolation methods. The representation conforms with the latest polytopic model generation and manipulation algorithms. Along these advances, the paper reorganizes and extends the mathematical theory of TP Model Transformation. The practical merit of the proposed concept is demonstrated through a numerical example.

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Quasi‐Min‐Max Model Predictive Control for Image‐Based Visual Servoing with Tensor Product Model Transformation

Cited by 41 publications

References 33 publications

Robust Grid Point-Based Control Design for LPV Systems via Unified TP Transformation

Robust Grid Point-Based Control Design for LPV Systems via Unified TP Transformation

Friction Compensation in TP Model Form - AeroelasticWing as an Example System

Affine Tensor Product Model Transformation

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