LPV gain-scheduled control of a control moment gyroscope

Abbas, Hossam S.; Ali, Ahsan; Hashemi, Seyed Mahdi; Werner, Herbert

doi:10.1109/acc.2013.6580913

Cited by 13 publications

(11 citation statements)

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“…a bounding box, implies that stability is satisfied for the underlying nonlinear system. This is not always true, as 1 The measure M usually decreases when the number of vertex systems/subsystems used in the considered polytopic LPV/TS model increases. In some cases, e.g.…”

Section: Region Of Attraction Estimates-based Measurementioning

confidence: 99%

“…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%

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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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Section: Region Of Attraction Estimates-based Measurementioning

confidence: 99%

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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“…1, respectively. If the angular velocityq 1 is large enough compared with other angular velocityq 2 ,q 3 , andq 4 , a simplified nonlinear mathematical model can be derived [3]. Thus, motion equations of Model 750 CMG are represented as follows:…”

Section: Nonlinear Modelmentioning

confidence: 99%

“…Nonlinear control methods are adopted to the controller design of the VSCMG. Recently, gridding-based gain scheduling (GS) controller design based on a linear parameter varying (LPV) system is reported to solve the nonlinear dynamics [3]- [6], while robust stability of the system is guaranteed by solving many linear matrix inequalities (LMIs).…”

Section: Introductionmentioning

confidence: 99%

Gain Scheduling Controller Synthesis for Control Moment Gyroscope Using Improved Approximation

Inaba

Chen

Takami

2018

SICE Journal of Control, Measurement, and System Integration

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This paper presents gain scheduling (GS) control of a variable speed control moment gyroscope (VSCMG) based on sum of squares (SOS). Nonlinear motion equations of the VSCMG are complicated because they contain many trigonometric functions of angles of gimbals. The dynamics varies depending on the angles of the gimbals. In this study, the difficulty of control design of the VSCMG is solved by two methods. First, the complicated nonlinear model is transformed to the linear parameter varying model, such that the linear control method can be applied, to make control design easy by using a proposed approximation method. The sine function and the cosine function are generally approximated by the first-order Taylor series expansion in ordinary controller synthesis. The model obtained by the firstorder Taylor series expansion ignores the nonlinear dynamics. But, in this study, those nonlinear functions are highly accurately approximated by using the proposed approximation method. The proposed approximation method is based on a high-order Taylor series expansion and a high-order Padé approximation. By using redundant representations, the synthesis condition can be reduced to polynomially parameter-dependent linear matrix inequalities (PDLMIs). Second, GS controller whose gains depend on the angles is applied. The polynomially PDLMIs can be relaxed to finite design conditions based on matrix SOS polynomials. The GS controller is designed by solving the finite SOS conditions. By using those methods, GS controller depending on the nonlinearities is designed. The effectiveness of the proposed controller is illustrated by simulations and experiments.

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“…Recently, first successful experimental validation of an LPV control strategy for the ECP 750 has been reported in Abbas et al (2013Abbas et al ( , 2014, demonstrating that the plant can be stabilized in a wide operating range. Still, some specifications with practical relevance, such as input disturbance attenuation, were not considered and steady state accuracy relied on a static prefilter.…”

Section: Introductionmentioning

confidence: 99%