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 
ISBN: 9781479986842
ISSN: 0743-1619
Journal: Proceedings of the American Control Conference 
Institute: Regelungstechnik E-14 
Document Type: Chapter/Article (Proceedings)
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