Electromagnetic Actuator Control: A Linear Parameter-Varying (LPV) Approach

Forrai, Alexandru; Ueda, T.; Yumura, Takashi

doi:10.1109/tie.2007.893077

Cited by 56 publications

(29 citation statements)

References 21 publications

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“…Accordingly, the range of applications is large, including AMB systems [85], [88], [91], [95], [102], [106], [107], [114], robotic manipulators [82], [99], [103], [104], [116], [118], [119], [193], engine control [94], [100], [124], miscellaneous mechatronic systems [11], [79], [83], [84], [87], [89], [90], [98], [115], vehicle motion control [81], [86], [92], [97], [101], [125], academic test benches [77], [78], [105], [109], [121], noise canceling headsets and 8 V ectored thrust Aircraft Advanced flight Control. 9 Authors' note: Defence Evaluation and Research Agency.…”

Section: A History and Range Of Applicationsmentioning

confidence: 99%

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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Section: A History and Range Of Applicationsmentioning

confidence: 99%

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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“…active vision systems [316], airplanes [14,314], bioreactors [185], canals [82], CD players [75], container crane load swing [128], control moment gyroscopes [1], electromagnetic actuators [102], engines [51], flexible ball screw drives [121], fuel cells [32,69], glycemic regulation [60], induction motors [233], internet web servers [234], inverted pendula [239], ionic polymer-metal composites [181], magneto-rheological dampers [294], robots [122], unmanned aerial vehicles (UAVs) [184,211], vehicle suspensions [101,231,232], wafer scanners [114], wind turbines [293] and winding machines [241]. Recently, the LPV paradigm has also been applied to time delay systems with time varying delays [44][45][46].…”

Section: Gain-scheduling: Lpv Systems and Ts Systemsmentioning

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 the last decades, the Linear Parameter Varying (LPV) paradigm has become a standard formalism in systems and control, for analysis, controller synthesis and system identification [27,28,29]. This class of systems is important because, by embedding the system nonlinearities in the varying parameters, gain scheduling control of nonlinear systems can be performed using an extension of linear techniques.…”

Section: Introductionmentioning

confidence: 99%

A Fault-Hiding Approach for the Switching Quasi-LPV Fault Tolerant Control of a Four-Wheeled Omnidirectional Mobile Robot

Rotondo

Puig

Nejjari

et al. 2014

IEEE Trans. Ind. Electron.

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Abstract-This paper proposes a reference model approach for the trajectory tracking of a four wheeled omnidirectional mobile robot. In particular, the error model is brought to a quasi-Linear Parameter Varying (LPV) form suitable for designing an errorfeedback controller. It is shown that, if polytopic techniques are used to reduce the number of constraints from infinite to finite, a solution within the standard LPV framework could not exist due to a singularity that appears in the possible values of the input matrix. Adding a switching component to the controller allows to solve this problem. Moreover, a switching LPV virtual actuator is added to the control loop in order to obtain fault tolerance within the fault-hiding paradigm, keeping the stability and some desired performances under the effect of actuator faults without the need of retuning the nominal controller. The effectiveness of the proposed approach is shown and proved through simulation and experimental results.

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Electromagnetic Actuator Control: A Linear Parameter-Varying (LPV) Approach

Cited by 56 publications

References 21 publications

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

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

Advances in Gain-Scheduling and Fault Tolerant Control Techniques

A Fault-Hiding Approach for the Switching Quasi-LPV Fault Tolerant Control of a Four-Wheeled Omnidirectional Mobile Robot

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