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Compact LFT-LPV modeling with automated parameterization for efficient LPV controller synthesis
Publikationstyp
Conference Paper
Publikationsdatum
2015-07-28
Sprache
English
Institut
Enthalten in
Volume
2015-July
Start Page
119
End Page
124
Article Number
7170722
Citation
American Control Conference (2015)
Contribution to Conference
Publisher DOI
Scopus ID
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.