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LFT-LPV modeling and control of a Control Moment Gyroscope
Publikationstyp
Conference Paper
Date Issued
2015-12
Sprache
English
Author(s)
Institut
TORE-URI
Start Page
5328
End Page
5333
Article Number
7403053
Citation
54th IEEE Conference on Decision and Control, CDC 2015
Contribution to Conference
Publisher DOI
Scopus ID
Publisher
IEEE
ISBN
978-1-4799-7886-1
978-1-4799-7884-7
978-1-4799-7885-4
Techniques for the systematic modeling and Linear Parameter-Varying (LPV) control of highly nonlinear plants are proposed and applied to a four-degree of freedom (4-DOF) Control Moment Gyroscope (CMG). First, the factorization problem to yield LPV representations from general nonlinear models is formalized and tractable heuristics are proposed. Based on these, LPV parameter sets are automatically derived via a Principle Component Analysis (PCA)-based method that only requires model coefficients and allows straightforward approximation. Improved State-Feedback (SF) controller synthesis conditions for descriptor Linear Fractional Transformation (LFT)-LPV models are proposed that significantly reduce the synthesis effort. Both approximate and exact controller syntheses yield high performance in the entire operating envelope and are validated by experiments.
Subjects
Complexity theory
Damping
Differential equations
Gyroscopes
Matrix decomposition
Mechanical systems
Time-varying systems
DDC Class
600: Technology