|Publisher DOI:||10.1109/ACC.2015.7170722||Title:||Compact LFT-LPV modeling with automated parameterization for efficient LPV controller synthesis||Language:||English||Authors:||Herzog, Christian
|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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