Linear Parameter Varying Control of a Robot Manipulator for Aortic Valve Implantation

2011 ◽  
Author(s):  
A. Ramezanifar ◽  
A. Salimi ◽  
J. Mohammadpour ◽  
A. Kilicarslan ◽  
K. Grigoriadis ◽  
...  
Keyword(s):  
Aortic Valve ◽  
Robot Manipulator ◽  
Simulation Studies ◽  
Linear Parameter ◽  
Linear Parameter Varying ◽  
Safe Navigation ◽  
Prosthetic Aortic Valve ◽  
Lpv Control ◽  
Parameter Varying ◽  
Valve Implantation

In this paper, we propose a linear parameter varying (LPV) control design approach for trajectory tracking in a robotic system, intended to be involved in an image-guided teleoperated cardiac surgery. The robot is eventually aimed to guide a 3 degree-of-freedom medical tool (a catheter) inside the left ventricle (LV) and achieve the implantation of a prosthetic aortic valve. The successful delivery of the valve from the apical entrance to the aortic annulus strongly depends on the precise navigation of the catheter such that its probable collision with the LV’s changing environment is avoided. The LPV control strategy is utilized here due to its ability to capture the nonlinearities of the designed robot manipulator and adapt in real-time based on the varying end effector’s angle. The simulation studies demonstrate promising results achieved for a guaranteed safe navigation through LV.

Active Rejection of Harmonic Disturbances with Nonstationary Harmonically Related Frequencies Using Varying-Sampling-Time LPV Control

2016 ◽  
Vol 248 ◽  
pp. 19-26
Author(s):  
Xin Yu Shu ◽  
Pablo Ballesteros ◽  
Christian Bohn
Keyword(s):  
Vibration Control ◽  
Fundamental Frequency ◽  
Sampling Time ◽  
Linear Parameter ◽  
Linear Parameter Varying ◽  
Noise And Vibration ◽  
Active Noise ◽  
Lpv Control ◽  
Parameter Varying ◽  
Time Linear

This paper presents a method for the active noise and vibration control (ANC/AVC) of harmonically related nonstationary disturbances using varying-sampling-time linear parameter-varying (LPV) controller. The frequencies are assumed to be known and varying within given ranges and they are multiples of one fundamental frequency.

Linear Parameter-Varying Control of a Wing-Section Stall Flutter

2014 ◽  
Author(s):  
Wen Fan ◽  
Hugh H. T. Liu ◽  
Raymond H. S. Kwong
Keyword(s):  
Control Method ◽  
Control Surface ◽  
Linear Parameter ◽  
Linear Parameter Varying ◽  
Wing Section ◽  
Lpv Control ◽  
Stall Flutter ◽  
Parameter Varying ◽  
Gain Scheduled Controller ◽  
Two Parameters

This paper presents an active flutter suppression design using linear parameter-varying (LPV) control method for a nonlinear aeroservoelastic model that captures wing-section stall flutter. The loss-of-effectiveness fault is considered for the control surface. The resulting model is a function of speed as well as effectiveness factor of the control surface. These two parameters are treated as the varying parameters to formulate an LPV representation of the wing-section model using Jacobian linearization. An H2 gain-scheduled controller based on a parameter-dependent Lyapunov function is designed for the LPV system. The simulation shows that it can suppress limit cycle oscillations over a range of speed and work under a certain range of control surface effectiveness loss.

scholarly journals Cooperative Output Regulation of Multiagent Linear Parameter-Varying Systems

2017 ◽  
Vol 2017 ◽  
pp. 1-10 ◽  
Author(s):  
Afshin Mesbahi ◽  
Javad Mohammadpour Velni
Keyword(s):  
Design Method ◽  
Output Regulation ◽  
Control Synthesis ◽  
Linear Parameter ◽  
Reference Tracking ◽  
Linear Parameter Varying ◽  
Lpv Control ◽  
Parameter Varying ◽  
Cooperative Output Regulation ◽  
Output Regulation Problem

The output regulation problem is examined in this paper for a class of heterogeneous multiagent systems whose dynamics are governed by polytopic linear parameter-varying (LPV) models. The dynamics of the agents are decoupled from each other but the agents’ controllers are assumed to communicate. To design the cooperative LPV controllers, analysis conditions for closed-loop system are first established to ensure stability and reference tracking. Then, the LPV control synthesis problem is addressed, where the offline solution to a time-varying Sylvester equation will be used to determine and update in real time the controller state-space matrices. Two numerical examples will be finally given to demonstrate the efficacy of the proposed cooperative design method.

scholarly journals Design and flight test of a linear parameter varying flight controller

2020 ◽  
Vol 11 (4) ◽  
pp. 955-969 ◽  
Author(s):  
Christian Weiser ◽  
Daniel Ossmann ◽  
Gertjan Looye
Keyword(s):  
Flight Test ◽  
Lessons Learned ◽  
Synthesis Process ◽  
Load Factor ◽  
Linear Parameter ◽  
Linear Parameter Varying ◽  
Multi Objective ◽  
Motion Simulator ◽  
Lpv Control ◽  
Parameter Varying

Abstract Future aircraft generations require improved performance and efficiency to enable a reduced environmental footprint. To acquire this goal, for example new material and wing concepts are perused at the moment by the aircraft industry. These developments, which include aspects such as over-actuation and lowly damped flexible modes, give rise to more complex, multi-objective control problems. One candidate method, which delivers a solution to these problems for the whole flight envelope, is linear parameter varying (LPV) control. It naturally incorporates the controller scheduling in the synthesis process, guarantees stability and robustness over the entire parameter envelope, and enables intuitive multi-objective, multiple-input multiple-output (MIMO) controller designs. This paper proves the concept of LPV control in practice: The paper presents and discusses the LPV controller design process, simulation results, motion simulator test and finally, the in-flight validation of the control system on a Cessna Citation II aircraft. The developed inner loop controller structures are inspired by classical flight controllers used on state-of-the-art fly-by-wire airliners. The longitudinal aircraft motion is augmented with load-factor command and the lateral motion controller features a roll rate command with attitude hold behavior. The control laws are validated in flight by automated and actual pilot inputs with respect to functionality, flying and handling qualities. Test results are encouraging with the provided key findings and lessons learned aiming to provide a simplification for future LPV flight controller development and testing campaigns.

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