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Fixed-order linear parameter varying controller design for a 2DOF gyroscope

IFAC-PapersOnLine 2015年第26期48卷 230-235页

作者： Emedi, Zlatko Karimi, Alireza Laboratoire D'Automatique Ecole Polytechnique Fédérale de Lausanne Switzerland ETEL SA Motiers Switzerland

This paper presents an approach for fixed-order Linear parameter varying (LPV) controller design with application to a 2 Degree-of-Freedom (2DOF) gyroscope experimental setup. Inner convex approximation of the non-convex set of all stabilizing fixed-order LPV controllers is characterized through a set of Linear Matrix Inequalities (LMIs). This is achieved through the use of two slack matrices which enable decoupling of the controller and Lyapunov matrix parameters in the derivative of Lyapunov function. The LPV model obtained by the approximation of the nonlinear model of the 2DOF gyroscope is used for the design of a second-order LPV controller. Experimental results show good tracking performance in the presence of scheduling parameter variations. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： controllers Degrees of freedom (mechanics) Gyroscopes Linear matrix inequalities Lyapunov functions Set theory 2 degree of freedom (2DOF) Fixed order controller In control Linear Matrix Inequalities (LMIs) Linear parameter varying controllers LPV systems parameter dependent Lyapunov function Scheduling parameters

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Force control system for an automotive semi-active suspension

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IFAC-PapersOnLine 2015年第26期48卷 55-60页

作者： Vivas-Lopez, Carlos A. Hernandez-Alcantara, Diana Nguyen, Manh-Quan Morales-Menendez, Ruben Sename, Olivier School of Engineering and Sciences Tecnologico de Monterrey Av. E. Garza Sada 2501 MonterreyNL Mexico CNRS-Grenoble INP GIPSA-lab 11 rue des Mathematiques St Martin d'Heres Cedex38402 France

A new semi-active suspension control system is proposed. This control system includes a Linear parameter varying (LPV) controller which was designed to improve the ride comfort. It also incorporates a Force Control System (FCS) to transform the force command from the LPV controller to a input signal for the Electro-Rheological (ER) semi-active damper. This FCS was assessed by its tracking performance of the desired force command, with a 7 % of tracking error. Then the semi-active control system was evaluated in a Quarter of Vehicle (QoV) model under two tests: A Bump and a Road Profile. The results were a reduction up to 19 % (Bump test) and 29 % (Road Profile test), of the sprung mass position compared with a passive suspension. Additionally, an improvement up to 14 % was obtained when compared with a LPV controller using a simple model inversion Force-Manipulation transformation. © 2015, IPAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Suspensions (components) Active suspension systems Automobile suspensions Control systems controllers Damping Force control Magnetic levitation vehicles Roads and streets Shock absorbers Automotive semi active suspensions Electro rheological Linear parameter varying controllers LPV systems Semi active control systems Semi active dampers Semi active suspension control systems Tracking performance

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Speed Control of Induction Motor Using H∞Linear parameter varying Controller

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IFAC-PapersOnLine 2016年第25期49卷 74-79页

作者： Pohl, Lukas Vesely, Ivo CEITEC-Central European Institute of Technology Brno University of Technology Purkynova 123 Brno Czech Republic Department of Control and Instrumentation Faculty of Electrical Engineering and Communication Brno University of Technology Technicka 12 Brno Czech Republic

This paper presents H∞LPV approach to speed control of induction motor. Robust controller is designed using hybrid current-flux d-q equations of an induction machine. Rotor speed is taken out from these equations and it is used as a scheduling variable. Resulting control effort is computed as a sum of weighted control efforts of each vertex controller. Weight of each control effort depends on current value of scheduling variable (rotor speed). This method results in less conservative approach to speed controler design. © 2016

关键词： controllers Induction motors Scheduling Speed Speed control Conservative approaches Gain Scheduling Hybrid currents Induction machines Linear parameter varying controllers Robust controllers Scheduling variable Weighted controls

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Nonparametric LPV data-driven control

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IFAC-PapersOnLine 2015年第26期48卷 146-151页

作者： Formentin, Simone Piga, Dario Tóth, Roland Savaresi, Sergio M. Dipartimento di Elettronica Informazione e Bioingegneria Politecnico di Milano Piazza L. Da Vinci 32 Milano20133 Italy IMT Institute for Advanced Studies Lucca Piazza San Francesco 19 Lucca55100 Italy Department of Electrical Engineering Eindhoven University of Technology P.O. Box 513 Eindhoven5600 MB Netherlands

In this paper, a data-driven technique for linear parameter-varying (LPV) controller design is discussed. The proposed method allows to synthesize directly from data an LPV controller in input-output (IO) form, without the need to identifying a model of the plant. In the state of the art methods, the controller structure must be given a-priori. Instead, in the proposed approach both the controller structure and parameters are automatically determined based on a set of experimental measurements. The effectiveness of the method is demonstrated on a numerical example. © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： controllers Numerical methods Controller structures Data driven technique Data driven control Instrumental variables Linear parameter varying controllers LPV systems LS SVM State of the art methods

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Trajectory tracking of AGVs by linear parameter-varying control: a case study⁎

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IFAC-PapersOnLine 2018年第26期51卷 43-48页

作者： Jacobs, Laurens De Preter, Andreas Anthonis, Jan Swevers, Jan Pipeleers, Goele MECO Research Team Dept. of Mechanical Engineering KU Leuven Leuven Belgium DMMS lab Flanders Make Leuven Belgium Octinion bvba Leuven Belgium

This paper proposes a linear-parameter varying (LPV) controller design approach for trajectory tracking of an automated guided vehicle (AGV) based on a simple yet nonlinear kinematic model. By linearization of the model about a reference trajectory, an LPV model is readily obtained, which is then augmented with identified linear time-invariant actuator models. An appropriate parameter-dependent controller for the system is designed in an optimal way by specifying the control objectives in terms of H∞ criteria. Its performance is assessed by means of experiments on the considered prototype of an autonomous platform. © 2016

关键词： controllers Automatic guided vehicles Computer control systems Feedback control Kinematics Mobile robots Trajectories Automated guided vehicles Computer aided control system design Experimental validations Linear parameter varying control Linear time invariant Linear parameter varying controllers parameter dependent controllers Reference trajectories

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