NDLI: Closed-loop stability and performance optimization in LPV control based on a reduced parameter set

Content Provider	IEEE Xplore Digital Library
Author	Hoffmann, C. Hashemi, S.M. Abbas, H.S. Werner, H.
Copyright Year	2012
Description	Author affiliation: Mechatronics and Robotics Engineering Department, Egypt Japan University of science and Technology (E-JUST), Alexandria, Egypt (Abbas, H.S.) \|\| Institute of Control Systems, Hamburg University of Technology, Eissendorfer Str. 40, 21073, Germany (Hoffmann, C.; Hashemi, S.M.; Werner, H.)
Abstract	A difficulty encountered in applying linear parameter-varying (LPV) control is the complexity of synthesis and implementation for large numbers of scheduling parameters. Often, heuristic solutions involve neglecting individual scheduling parameters, such that LPV controller synthesis methods become applicable. However, stability and performance guarantees are rendered void, if a controller design based on an approximate model is implemented on the original plant. In this paper, a posteriori conditions are proposed to assess closed-loop stability and performance and possibly recover guarantees. The controller — synthesized based on a reduced parameter set — is first transformed back to depend on the original parameters. Then analysis is performed with respect to the original plant model, which is considered to be accurate. Moreover, an iterative approach for optimizing controllers with few scheduling parameters is sketched. A two-degrees-of-freedom (2-DOF) robotic manipulator is considered as an illustrative example. Experimental results indicate a significant increase in performance.
Starting Page	5146
Ending Page	5151
File Size	213709
Page Count	6
File Format	PDF
ISBN	9781467320658
ISSN	07431546
e-ISBN	9781467320665
e-ISBN	9781467320641
DOI	10.1109/CDC.2012.6427053
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-12-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Stability analysis Vectors Optimization Robots Linear matrix inequalities Scheduling Approximation methods
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Modeling and Simulation

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