Publisher DOI: | 10.1109/ACC.2015.7170722 | Title: | Compact LFT-LPV modeling with automated parameterization for efficient LPV controller synthesis | Language: | English | Authors: | Hoffmann, Christian Werner, Herbert |
Issue Date: | 28-Jul-2015 | Source: | American Control Conference (2015) | Abstract (english): | A systematic approach to the derivation of Linear Fractional Transformation (LFT)-based Linear Parameter-Varying (LPV) representations for descriptor systems is proposed. Explicit compact rational and affine representations with full non-square parameter blocks are formulated. Based on these, LPV parameterizations of the blocks are then derived automatically via a Principle Component Analysis (PCA)-based algorithm that only requires model coefficients and allows straightforward approximation of LFT-LPV models. A two-stage multiplier approach is employed during controller synthesis, which ensues low synthesis and implementation complexity compared to standard approaches. The methodology is applied to a three-degree of freedom (3-DOF) robotic manipulator, which shows improved performance at lower implementation complexity compared to previously published results. |
Conference: | American Control Conference, ACC 2015 | URI: | http://hdl.handle.net/11420/14649 | ISBN: | 9781479986842 | ISSN: | 0743-1619 | Journal: | Proceedings of the American Control Conference | Institute: | Regelungstechnik E-14 | Document Type: | Chapter/Article (Proceedings) |
Appears in Collections: | Publications without fulltext |
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