We consider the efficient solution of the coprime factorization based H∞ controller approximation problems by using frequency-weighted balancing related model reduction approaches. It is shown that for a class of fre...
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Up to now the parameter space approach was either utilized for robustness analysis or for design of fixed gain controllers. This paper presents an extension of this method which allows the design of gain scheduling co...
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ISBN:
(纸本)9783952426906
Up to now the parameter space approach was either utilized for robustness analysis or for design of fixed gain controllers. This paper presents an extension of this method which allows the design of gain scheduling controllers which simultaneously stabilize a finite number of representatives of an uncertain plant. The approach is applied to an automotive control example.
The design of a robust autoland controller using an optimization based design process is described. A modular controller architecture is developed first. Inner loops are based on Dynamic Inversion, speed and longitudi...
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作者：
Varga, A.DLR Oberpfaffenhofen
German Aerospace Research Establishment Institute of Robotics and System Dynamics WesslingD-82234 Germany
The discrete-time positive periodic Lyapunov equations have important applications in the balancing and potentially also in the model reduction of discrete-time periodic systems. Efficient numerically reliable algorit...
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ISBN:
(纸本)9783952426906
The discrete-time positive periodic Lyapunov equations have important applications in the balancing and potentially also in the model reduction of discrete-time periodic systems. Efficient numerically reliable algorithms based on periodic Schur decomposition are proposed for the solution of these equations. The proposed algorithms are extensions of the method of Hammarling for the case of positive semidefnite solution. Special methods were developed to solve efficiently small order periodic Lyapunov and Sylvester equations.
The non-redundant parametrization of the pole assignment problem for a n-th order system with m inputs allows to express the solution of the problem in term of n(m - 1) free parameters. These parameters can be used to...
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ISBN:
(纸本)9783952426906
The non-redundant parametrization of the pole assignment problem for a n-th order system with m inputs allows to express the solution of the problem in term of n(m - 1) free parameters. These parameters can be used to fulfill additional requirements on the closed-loop system as for instance minimum norm feedback gain matrix, well conditioned eigenvector set, maximum stability radius. One of reliable numerical methods for pole assignment is the so-called Schur method. An extension of this method is proposed which computes the solution of the pole assignment problem corresponding to a non-redundant parameter set. Several possibilities are further investigated to compute minimum norm feedback matrices. An improved approach to compute minimum Frobenius-norm feedback relying on a redundant parametrization is also discussed.
Hybrid systems combine continuous behavior evolution specified by differential equations with discontinuous changes specified by discrete event switching logic. Numerical simulation of continuous behavior and of discr...
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The dlr Planetary Roller Spindle Drive (PRSD), a new linear actuator developed at the German Aerospace Center (dlr), transforms fast rotation of a drive into slow but powerful linear movement. To optimize dynamical be...
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A numerically reliable computational approach based on descriptor systems techniques is proposed for the computation of the week generalized inverses of rational matrices. The main applications of the proposed method ...
A numerically reliable computational approach based on descriptor systems techniques is proposed for the computation of the week generalized inverses of rational matrices. The main applications of the proposed method are in solving model matching problems and in computing the inner-outer or J-inner-outer factorizations of rational matrices.
We present a general Riccati theory for systems in descriptor form considered under the weakest possible assumptions imposed on the coefficent matrices. A Riccati-like equation of descriptor form is introduced and its...
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ISBN:
(纸本)9783952426906
We present a general Riccati theory for systems in descriptor form considered under the weakest possible assumptions imposed on the coefficent matrices. A Riccati-like equation of descriptor form is introduced and its stabilizing solution is characterized in terms of the associated extended Hamiltonian pencil (EHP) whilst the computation of such a solution is reduced to solving a generalized eigenvalue problem for a singular EHP. The results exposed in the paper are generalizations to the game-theoretic (sign indefinite) and singular cases of the (positivity) Riccati theory developed by several authors in the framework of descriptor systems. Possible applications range from various nonstandard and J-spectral factorizations to H2 and H∞ control of descriptor systems.
This work presents a novel autonomous parking concept for a four wheel-steerable robotic electric vehicle called ROboMObil (ROMO). Its extraordinary maneuverability, including rotations and lateral driving, and its ca...
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