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.

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.

A fault-detection, filter-design method for linear parameter-varying systems

2007 ◽  
Vol 221 (6) ◽  
pp. 865-874 ◽  
Author(s):  
A Casavola ◽  
D Famularo ◽  
G Franzè ◽  
M Sorbara
Keyword(s):  
Fault Detection ◽  
Filter Design ◽  
Design Method ◽  
Linear Matrix ◽  
False Alarms ◽  
Linear Parameter ◽  
Linear Parameter Varying ◽  
Luenberger Observer ◽  
Parameter Varying ◽  
Filter Design Method

In this paper a fault-detection (FD), filter-design method has been proposed for linear parameter-varying (LPV) systems. The FD filter is an optimal H∞ Luenberger observer synthesized by minimizing frequency conditions that ensure guaranteed levels of disturbance rejection and fault detection. Via the bounded real lemma (BRL) and the separation principle the design method is formulated as a convex linear matrix inequality (LMI) optimization problem. The resulting residual generator is parameter-dependent and uses the plant parameter assumed measurable online. Finally, an FD threshold logic is proposed in order to reduce the generation of false alarms. The effectiveness of the design technique is illustrated via a numerical example.

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.

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