Applied LPV control exploiting the separation principle for the single axis positioning of an industrial manipulator

Saupe, Florian; Pfifer, Harald

doi:10.1109/cca.2011.6044513

Cited by 4 publications

(5 citation statements)

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“…Therefore, additional LMI conditions are used to impose limits on the damping and natural frequency, much like pole-placement constraints in LMI-based LTI controller synthesis. Examples, where such constraints are used can be found in [60], [77], [78], [91], [102], [121], [156], and [61]. In [124], it is argued that multiple conflicting control objectives are best posed in the form of the minimization of different norms.…”

Section: ) Control Of Lpv Plants With Time-delaysmentioning

confidence: 99%

“…A simple and effective iterative solution for suboptimal synthesis is explained in [60] and [61]. Numerical issues, especially in conjunction with the use of full-block multipliers [24], but also with the polytopic approach [84], are adressed in the literature.…”

Section: ) Control Of Lpv Plants With Time-delaysmentioning

confidence: 99%

“…Apart from that, relatively few experimental publications making use of the gridding approach exist, for reasons mentioned above. Among them are automated lane guidance [150], automated driving via visual feedback [81], robotics [60], [62], [166], [193], engine control [153]- [155], and the control of a control moment [36], [37]. The comparably high amount of hifi simulation validated control designs, however, indicates its usefulness in the highly nonlinear aerospace related control problems.…”

Section: A History and Range Of Applicationsmentioning

confidence: 99%

“…In general, this approach is limited to a few scheduling signals because of the exponential increase in grid points, hence memory requirements or interpolation complexity. Note, however, that if observer-based synthesis is performed, parameter-dependent state-feedback matrices of both observer and controller can be computed online each by a single matrix inversion without the need to store multiple controllers in memory [60]- [62].…”

Section: B State Space-based Lpv Controller Synthesismentioning

confidence: 99%

“…If an unstable controller is implemented even small stick-slip effects induce limit cycles [62]. Therefore, a multistage multiobjective optimization procedure is performed in [60]- [62], which is automatically altering shaping filter tuning parameters based on a heuristic scheme and it is iterated between synthesis and accurate nonlinear simulations. In this case, unstable controllers are simply discarded.…”

Section: ) Inexactly Measured Scheduling Parametersmentioning

confidence: 99%

See 4 more Smart Citations

A Survey of Linear Parameter-Varying Control Applications Validated by Experiments or High-Fidelity Simulations

Hoffmann

Werner

2015

IEEE Trans. Contr. Syst. Technol.

326

190

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This paper provides a survey of results in linear parameter-varying (LPV) control that have been validated by experiments and/or high-fidelity simulations. The LPV controller synthesis techniques employed in the references of this survey are briefly reviewed and compared. The methods are classified into polytopic, linear fractional transformation, and griddingbased techniques and it is reviewed how in each of these approaches, synthesis can be carried out as a convex optimization problem via a finite number of linear matrix inequalities (LMIs) for both parameter-independent and parameter-dependent Lyapunov functions. The literature is categorized with regard to the application, the complexity induced by the controlled system's dynamic and scheduling orders, as well as the synthesis method. Exemplary cases dealing with specific control design problems are presented in more detail to point control engineers to possible approaches that have been successfully applied. Furthermore, key publications in LPV control are related to application achievements on a timeline. Index Terms-Controller synthesis, experiments, high-fidelity (hifi)-simulation, linear parameter-varying (LPV).

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