Fixed-structure LPV discrete-time controller design with inducedl2-norm andH2performance

Emedi, Zlatko; Karimi, Alireza

doi:10.1080/00207179.2015.1081986

Cited by 24 publications

(10 citation statements)

References 33 publications

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“…DSs are applicable for various robotic manipulations which need an accurate and fast re-computing of motions. Formulating DSs as LPV systems allows modeling a wide class of nonlinear systems and the use of many tools from the linear systems theory for analysis and control [18]. LPV systems can be thought of as a weighted combination of linear models, each valid at a specific operating point.…”

Section: The Soft Catching Dynamical Systemmentioning

confidence: 99%

A Dynamical System Approach for Softly Catching a Flying Object: Theory and Experiment

2016

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Catching a fast flying object is particularly challenging as consists of two tasks: it requires extremely precise estimation of the object's motion and control of the robot motion. Any small imprecision may lead the fingers to close too abruptly and let the object fly away from the hand before closing. We present a strategy to overcome for sensorimotor imprecision by introducing softness in the catching approach. Soft catching consists of having the robot moves with the object for a short period of time, so as to leave more time for the fingers to close on the object. We use a dynamical systems (DS) based control law to generate the appropriate reach and follow motion, which is expressed as a Linear Parameter Varying (LPV) system. We propose a method to approximate the parameters of LPV systems using Gaussian Mixture Models, based on a set of kinematically feasible demonstrations generated by an off-line optimal control framework. We show theoretically that the resulting DS will intercept the object at the intercept point, at the right time with the desired velocity direction. Stability and convergence of the approach are assessed through Lyapunov stability theory. The proposed method is validated systematically to catch three objects that generate elastic contacts and demonstrate important improvement over a hard catching approach.

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Section: The Soft Catching Dynamical Systemmentioning

confidence: 99%

A Dynamical System Approach for Softly Catching a Flying Object: Theory and Experiment

2016

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“…The same idea has been applied in [32] and [33] for static outputfeedback controller design with inexact scheduling parameters requiring to solve a set of BMI and LMI conditions, respectively. Similar idea was presented in papers [34] and [35] where some of the dynamic output-feedback LPV controller's matrices were restricted to be parameter-independent in order to obtain convex stability conditions regarding the scheduling parameter.…”

Section: Introductionmentioning

confidence: 99%

Generalized robust gain-scheduled PID controller design for affine LPV systems with polytopic uncertainty

Veselý

Ilka

2017

Systems & Control Letters

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In the paper a generalized guaranteed cost output-feedback robust gain-scheduled PID controller synthesis is presented for affine linear parameter-varying systems under polytopic model uncertainty. The controller synthesis is generalized in a sense that it covers robust, robust gain-scheduled, and robust switched (with arbitrary switching algorithm) PID controller design. The proposed centralized/decentralized controller method is based on Bellman-Lyapunov equation, guaranteed cost, and parameter-dependent quadratic stability. The proposed sufficient robust stability and performance conditions are derived in the form of bilinear matrix inequalities (BMI) which can efficiently be solved or further linearized. As the main result, the suggested performance and stability conditions without any restriction on the controller structure are convex functions of the scheduling and uncertainty parameters. Hence, there is no need for applying multi-convexity or other relaxation techniques and consequently the proposed solution delivers a less conservative design method. The viability of the novel design technique is demonstrated and evaluated through numerical examples.

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“…In another research direction, switched linear parameter-varying (LPV) control theory has attracted increasing attention owing to its merits in dealing with complex parameter-varying systems (Briat, 2015; Emedi and Karimi, 2016). For example, in He and Zhao (2014) and Huang et al (2013), the switched LPV control theory is investigated, and the results are applied to F-16 aircraft and air-breathing hypersonic vehicle.…”

Section: Introductionmentioning

confidence: 99%

Smooth switching linear parameter-varying fault detection filter design for morphing aircraft with asynchronous switching

Cheng

Dong

Wang

et al. 2017

Transactions of the Institute of Measurement and Control

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This article deals with the problem of fault detection filters design for morphing aircraft with asynchronous switching. Considering time delay and intermittent measurements in the network environment, the morphing aircraft can be modeled as a switched linear parameter-varying (LPV) system. There always exists asynchronous switching phenomenon owing to time delay and data missing, which will lead to performance degradation. The parameter-dependent filters are established to generate the residual signal. In order to ensure the transient response of the morphing aircraft, the smooth switching LPV fault detection filters are designed by dividing the whole scheduling parameter set into subsets with overlaps. Meanwhile, the stability and prescribed performance of the system are guaranteed by combining multiple Lyapunov functional method and mode-dependent average dwell time method. The existing conditions and solution of filters are derived by linear matrix inequalities. Furthermore, an automatic partition method is proposed for the convenience of designing process. Simulation in the end demonstrates the superiority and effectiveness of the proposed method.

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Fixed-structure LPV discrete-time controller design with inducedl₂-norm andH2performance

Cited by 24 publications

References 33 publications

A Dynamical System Approach for Softly Catching a Flying Object: Theory and Experiment

A Dynamical System Approach for Softly Catching a Flying Object: Theory and Experiment

Generalized robust gain-scheduled PID controller design for affine LPV systems with polytopic uncertainty

Smooth switching linear parameter-varying fault detection filter design for morphing aircraft with asynchronous switching

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