Control of heterogeneous LPV subsystems interconnected through arbitrary and switching directed topologies

Publikationstyp
Conference Paper
Date Issued
2015-02-08
Sprache
English
Author(s)
Hoffmann, Christian  
Werner, Herbert  
Institut
Regelungstechnik E-14  
TORE-URI
http://hdl.handle.net/11420/14650
Journal
Proceedings of the IEEE Conference on Decision & Control  
Start Page
3633
End Page
3638
Article Number
7402782
Citation
54rd IEEE Conference on Decision and Control (CDC 2015)
Contribution to Conference
54rd IEEE Conference on Decision and Control, CDC 2015  
Publisher DOI
10.1109/CDC.2015.7402782
Scopus ID
2-s2.0-84962019857
This paper introduces a novel technique for the synthesis of distributed Linear Parameter-Varying (LPV) controllers for heterogeneous LPV systems interconnected through arbitrary, time-varying, directed interaction topologies. A distributed system is constructed from interconnected subsystems for which a novel manipulation of interconnection channels is proposed that renders any interconnection representable as a virtual normal interconnection matrix. This guarantees the existence of a unitary diagonalizing transformation. The synthesis problem can then be essentially solved by Linear Fractional Transformation (LFT)-LPV gain-scheduling synthesis methods, in which the possibly varying eigenvalues of the virtual interconnection matrix act as the scheduling variables of the transformed problem and the computational complexity is in the order of a single subsystem. The method is benchmarked against an existing one and shows superior performance in both a numerical example and the leader-follower formation control problem of LPV quadrocopter models.