scholarly journals Gain Scheduling Controller Design for Two-Rotor Hovering System and its Experimental Verification

2006 ◽  
Vol 18 (5) ◽  
pp. 589-597
Author(s):  
Makoto Yamashita ◽  
◽  
Masami Saeki ◽  
Nobutaka Wada ◽  
Izumi Masubuchi ◽  
...  
Keyword(s):  
Flight Control ◽  
State Feedback ◽  
Optimization Problem ◽  
Controller Design ◽  
Gain Scheduling ◽  
Linear Matrix ◽  
Feedback Gain ◽  
Convex Optimization Problem ◽  
Linear Parameter Varying ◽  
Lpv System

We propose two design methods of a gain scheduling controller for flight control of two-rotor hovering system. We first propose a method of converting whole dynamics of the hovering system to a linear parameter-varying (LPV) system at once. Secondly, we propose a method of linearizing longitudinal dynamics of the system exactly and converting remaining dynamics to an LPV system. In both cases, the state feedback gain scheduling controller is designed for the obtained LPV system by solving a convex optimization problem with linear matrix inequality (LMI) constraints. Experimental results show the effectiveness of the proposed methods.

scholarly journals Synthesis Conditions for LPV Controller with Input Covariance Constraints

2019 ◽  
Vol 9 (1) ◽  
pp. 144-150
Author(s):  
Lina Alhmoud ◽  
Ali Khudhair Al-Jiboory
Keyword(s):  
State Feedback ◽  
Optimization Problem ◽  
Linear Matrix ◽  
Matrix Inequalities ◽  
Linear Parameter ◽  
Convex Optimization Problem ◽  
Linear Parameter Varying ◽  
Synthesis Conditions ◽  
Novel Synthesis ◽  
Design Requirements

AbstractIn this paper, novel synthesis conditions for state-feedback Linear Parameter Varying (LPV) controller with Input Covariance Constraints (ICC) are developed. The synthesis conditions achieve the following design requirements 1) some constraints need to be satisfied on the control energy and 2) optimizing the performance outputs for the entire parameter space of the LPV system. These conditions are formulated as convex optimization problem with Parameterized Linear Matrix Inequalities (PLMIs) constraints. The effectiveness of the proposed approach is illustrated through numerical examples.

scholarly journals Output feedback controller design for polynomial linear parameter varying system via parameter-dependent Lyapunov functions

2017 ◽  
Vol 9 (2) ◽  
pp. 168781401769032 ◽  
Author(s):  
Xiaobao Han ◽  
Zhenbao Liu ◽  
Huacong Li ◽  
Xianwei Liu
Keyword(s):  
Output Feedback ◽  
Optimization Problem ◽  
Controller Design ◽  
Feedback Controller ◽  
Linear Matrix ◽  
Linear Parameter ◽  
Linear Parameter Varying ◽  
Output Feedback Controller ◽  
Parameter Varying ◽  
Parameter Dependent

This article presents a new output feedback controller design method for polynomial linear parameter varying model with bounded parameter variation rate. Based on parameter-dependent Lyapunov function, the polynomial linear parameter varying system controller design is formulated into an optimization problem constrained by parameterized linear matrix inequalities. To solve this problem, first, this optimization problem is equivalently transformed into a new form with elimination of coupling relationship between parameter-dependent Lyapunov function, controller, and object coefficient matrices. Then, the control solving problem was reduced to a normal convex optimization problem with linear matrix inequalities constraint on a newly constructed convex polyhedron. Moreover, a parameter scheduling output feedback controller was achieved on the operating condition, which satisfies robust performance and dynamic performances. Finally, the feasibility and validity of the controller analysis and synthesis method are verified by the numerical simulation.

scholarly journals Quadratic Stabilization of LPV System by an LTI Controller Based on ILMI Algorithm

2007 ◽  
Vol 2007 ◽  
pp. 1-9 ◽  
Author(s):  
Wei Xie
Keyword(s):  
Controller Design ◽  
Linear Time ◽  
Admissible Solution ◽  
Linear Matrix ◽  
Linear Parameter Varying ◽  
Linear Time Invariant ◽  
Lpv Control ◽  
Lpv System ◽  
Time Invariant ◽  
Iterative Linear Matrix Inequality

A linear time-invariant (LTI) output feedback controller is designed for a linear parameter-varying (LPV) control system to achieve quadratic stability. The LPV system includes immeasurable dependent parameters that are assumed to vary in a polytopic space. To solve this control problem, a heuristic algorithm is proposed in the form of an iterative linear matrix inequality (ILMI) formulation. Furthermore, an effective method of setting an initial value of the ILMI algorithm is also proposed to increase the probability of getting an admissible solution for the controller design problem.

Design of State Feedback Controller for Discrete Systems with Time-Delay

2013 ◽  
Vol 347-350 ◽  
pp. 695-700
Author(s):  
Shuai Tian He ◽  
Zhi Chang Li
Keyword(s):  
Time Delay ◽  
Linear Systems ◽  
State Feedback ◽  
Controller Design ◽  
Dynamic Performance ◽  
Sufficient Conditions ◽  
Discrete Systems ◽  
Adjustable Parameter ◽  
Linear Matrix ◽  
Feedback Gain

The stability analysis and controller design of discrete linear systems with time-varying delay are addressed. Firstly, the uniformly asymptotical stability criterion with adjustable parameter is derived by Lyapunov-Razumikhin approach. Then, the stabilization approaches for linear systems with time delay by state feedback and observer based-on state feedback are also presented. Sufficient conditions for the existence of state feedback gain and the observer gain are derived through the numerical solution of a set of obtained linear matrix inequalities. Compared with methods in the references, the dynamic performance of systems, such as the overshoot and the convergence rate of the response, can be adjusted by changing the adjustable parameter. Lastly, an illustrative example is given to show the effectiveness of the proposed.

scholarly journals Improved Results on Delay-Dependent Robust H ∞ Control of Uncertain Neutral Systems with Mixed Time-Varying Delays

2021 ◽  
Vol 2021 ◽  
pp. 1-21
Author(s):  
Jingsha Zhang ◽  
Yongke Li ◽  
Xiaolin Ma ◽  
Zhilong Lin ◽  
Changlong Wang
Keyword(s):  
State Feedback ◽  
Controller Design ◽  
The State ◽  
Linear Matrix ◽  
Feedback Gain ◽  
Time Varying ◽  
Neutral Systems ◽  
The Matrix ◽  
Left And Right ◽  
Delay Dependent

In this paper, the problem of the delay-dependent robust H ∞ control for a class of uncertain neutral systems with mixed time-varying delays is studied. Firstly, a robust delay-dependent asymptotic stability criterion is shown by linear matrix inequalities (LMIs) after introducing a new Lyapunov–Krasovskii functional (LKF). The LKF including vital terms is expected to obtain results of less conservatism by employing the technique of various efficient convex optimization algorithms and free matrices. Then, based on the obtained criterion, analyses for uncertain systems and H ∞ controller design are presented. Moreover, on the analysis of the state-feedback controller, different from the traditional method which multiplies the matrix inequality left and right by some matrix and its transpose, respectively, we can obtain the state-feedback gain directly by calculating the LMIs through the toolbox of MATLAB in this paper. Finally, the feasibility and validity of the method are illustrated by examples.

Guaranteed Performance State-Feedback Gain-Scheduling Control With Uncertain Scheduling Parameters

2015 ◽  
Vol 138 (1) ◽  
Author(s):  
Ali Khudhair Al-Jiboory ◽  
Guoming G. Zhu ◽  
Jongeun Choi
Keyword(s):  
State Feedback ◽  
Gain Scheduling ◽  
Measurement Noise ◽  
Control Synthesis ◽  
Linear Matrix ◽  
Feedback Gain ◽  
Uncertainty Model ◽  
Gain Scheduling Control ◽  
Uncertain Scheduling

State-feedback gain-scheduling controller synthesis with guaranteed performance is considered in this brief. Practical assumption has been considered in the sense that scheduling parameters are assumed to be uncertain. The contribution of this paper is the characterization of the control synthesis that parameterized linear matrix inequalities (PLMIs) to synthesize robust gain-scheduling controllers. Additive uncertainty model has been used to model measurement noise of the scheduling parameters. The resulting controllers not only ensure robustness against scheduling parameters uncertainties but also guarantee closed-loop performance in terms of H2 and H∞ performances as well. Numerical examples and simulations are presented to illustrate the effectiveness of the synthesized controller. Compared to other control design methods from literature, the synthesized controllers achieve less conservative results as measurement noise increases.

Mixed H2/H∞ Observer-Based LPV Control of a Hydraulic Engine Cam Phasing Actuator

2011 ◽  
Author(s):  
Andrew White ◽  
Zhen Ren ◽  
Guoming Zhu ◽  
Jongeun Choi
Keyword(s):  
Engine Speed ◽  
Test Bench ◽  
Linear Models ◽  
Linear Matrix ◽  
Closed Loop System ◽  
Linear Parameter Varying ◽  
The Family ◽  
Lpv Control ◽  
Lpv System ◽  
Variable Valve

In this paper, a series of closed-loop system identification tests was performed for a variable valve timing cam phaser system on a test bench to obtain a family of linear models for an array of engine speeds and oil pressures. Using engine speed and oil pressure as the system parameters, the family of linear models was translated into a linear parameter varying (LPV) system. The engine speed and oil pressure can be measured in real-time by these sensors equipped on the engine, thus allowing their use as scheduling parameters. An observer-based gain-scheduling controller for the obtained LPV system is then designed based on the numerically efficient convex optimization or linear matrix inequality (LMI) technique. Test bench results show the effectiveness of the proposed scheme.

scholarly journals Resilient Robust Finite-TimeL2-L∞Controller Design for Uncertain Neutral System with Mixed Time-Varying Delays

2014 ◽  
Vol 2014 ◽  
pp. 1-12
Author(s):  
Xia Chen ◽  
Shuping He
Keyword(s):  
Finite Time ◽  
State Feedback ◽  
Controller Design ◽  
Linear Matrix ◽  
Neutral System ◽  
Time Varying ◽  
Constraint Condition ◽  
Closed Loop System ◽  
Delayed System ◽  
Delay Dependent

The delay-dependent resilient robust finite-timeL2-L∞control problem of uncertain neutral time-delayed system is studied. The disturbance input is assumed to be energy bounded and the time delays are time-varying. Based on the Lyapunov function approach and linear matrix inequalities (LMIs) techniques, a state feedback controller is designed to guarantee that the resulted closed-loop system is finite-time bounded for all uncertainties and to satisfy a givenL2-L∞constraint condition. Simulation results illustrate the validity of the proposed approach.

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