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An Efficient Algorithm for the Tensor Product Model Transformation
Jianfeng Cui,Ke Zhang,Tiehua Ma 제어·로봇·시스템학회 2016 International Journal of Control, Automation, and Vol.14 No.5
The tensor-product (TP) model transformation was proposed recently as a numerical and automaticallyexecutable method which is capable of transforming linear parameter varying (LPV) state-space models into thehigher order singular value decomposition (HOSVD) based canonical form of polytopic models. The crucial disadvantageof the TP model transformation is that its computational load explodes with the density of discretization andthe dimensionality of the parameter vector of the parameter-varying state-space model. In this paper we propose anew algorithm that leads to considerable reduction of the computation in the TP model transformation. The mainidea behind the modified algorithm is to minimize the number of discretized points to acquire as much informationas possible. The modified TP model transformation can readily be executed on a regular computer efficiently andconcisely, especially in higher dimensional cases when the original TP model transformation fails. The paper alsopresents numerical examples to show the effectiveness of the new algorithm.
7자유도 전차량 모델 기반 차량용 능동현가장치 강인 제어기 설계
채민지(Minji Chae),서인석(Inseok Seo),김태형(Tae-Hyoung Kim) 대한기계학회 2016 대한기계학회 춘추학술대회 Vol.2016 No.12
This paper proposes a method to design robust static-output feedback (SOF) controller of vehicle active suspension which is to improve ride comfort and driving safety based on full car model by using linear matrix inequalities (LMIs) and multi-objective particle-swarm optimization (MO-PSO). The main strategies are composed of three important parts. First, we decouple 7-DOF full car model into 4-DOF heave+pitch model and 3-DOF roll model to design controller focusing on sensitive frequency range of each mode. Second, we consider vehicle parameter uncertainty such as mass variation and mechanical components’ nonlinearities by polytopic uncertainty model. Finally, we design robust finite-frequency H∞/GH2 SOF controller which generally known as non-convex mathematical problem, by combining Generalized KYP lemma based LMIs and MO-PSO. The proposed controller design method is validated via numerical simulation describing real driving situations.
Sangrok Oh,Jung-Su Kim,Hyungbo Shim 대한전기학회 2015 Journal of Electrical Engineering & Technology Vol.10 No.6
This paper presents an observer–based robust controller for constant reference tracking of linear time invariant systems with polytopic model uncertainties. To this end, this paper not only designs a robust integral controller gain but also suggests how to determine the robust observer gain and the observer model used in the observer. Since the observer model selection is not obvious due to the polytopic uncertainties, particular attention needs to be paid to that. This paper computes the robust controller and observer gains first. Then, the observer model is selected in a way that the whole closedloop is stable and LMIs are used in the middle of choosing the gains and observer model. Simulation examples show that the proposed observer-based feedback control successfully achieves robust reference tracking.
오상록,김정수,심형보 대한전기학회 2015 Journal of Electrical Engineering & Technology Vol.10 No.6
This paper presents an observer–based robust controller for constant reference tracking of linear time invariant systems with polytopic model uncertainties. To this end, this paper not only designs a robust integral controller gain but also suggests how to determine the robust observer gain and the observer model used in the observer. Since the observer model selection is not obvious due to the polytopic uncertainties, particular attention needs to be paid to that. This paper computes the robust controller and observer gains first. Then, the observer model is selected in a way that the whole closedloop is stable and LMIs are used in the middle of choosing the gains and observer model. Simulation examples show that the proposed observer-based feedback control successfully achieves robust reference tracking.
Oh, Sangrok,Kim, Jung-Su,Shim, Hyungbo The Korean Institute of Electrical Engineers 2015 Journal of Electrical Engineering & Technology Vol.10 No.6
This paper presents an observer-based robust controller for constant reference tracking of linear time invariant systems with polytopic model uncertainties. To this end, this paper not only designs a robust integral controller gain but also suggests how to determine the robust observer gain and the observer model used in the observer. Since the observer model selection is not obvious due to the polytopic uncertainties, particular attention needs to be paid to that. This paper computes the robust controller and observer gains first. Then, the observer model is selected in a way that the whole closedloop is stable and LMIs are used in the middle of choosing the gains and observer model. Simulation examples show that the proposed observer-based feedback control successfully achieves robust reference tracking.
최한호(Han Ho Choi) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.7
This paper presents an LMI-based method to design a sliding mode controller for a multivariable uncertain system with a polytopic model. In terms of LMIs an existence condition of a sliding surface is derived. And a switching feedback control law is given. Finally, a numerical design example is given to show that the proposed method can be better than the existing results.
폴리토픽 모델을 갖는 대규모 시스템을 위한 비집중화 슬라이딩 모드 제어기 설계
최한호(Han Ho Choi) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.1
Based on the sliding mode control theory, a decentralized controller design method is developed for a large scale system with a polytopic model. In terms of LMIs, we derive sufficient conditions for the existence of the decentralized controller guaranteeing a stable sliding motion. We also give an LMI-based control design algorithm. Finally, the proposed method is applied to decentralized stabilization of double-inverted pendulums. Simulation results show that our method gives not only the robust stability but perfect rejection of norm-bounded uncertainties.
W.J. Yoo,D.H. Ji,S.J. Choi,Ju H. Park,S.C. Won 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In this paper, a constrained robust model predictive control (MPC) is addressed for continuous-time systems with polytopic uncertainty. A modified fuzzy disturbance observer (MFDO) is applied to estimate the uncertainty at each vertex given by a linear model. The quantity of uncertainty estimated by the MFDO is utilized as a pseudo membership grade for each vertex. The state feedback MPC control law is constructed by the weighted sum of each control gain according to the pseudo membership grade. To illustrate the efficiency of the proposed method, numerical simulation is represented.
Fuzzy model-based control of a quadrotor
North-Holland 2019 Fuzzy sets and systems Vol.371 No.-
<P> This paper focuses on a fuzzy-model-based design problem for the hovering control of a class of nonlinear quadrotors. The concerned problem turns into an exponential stabilization of an augmented error system to incorporate the tracking of the desired three dimensional position and yaw angle and the stabilization of roll and pitch motions. The augmented error dynamics under the proposed control scheme can be viewed as an interconnected system. It is shown that the interconnected system is exponential stable if its subsystems systems are so. This property makes the separate design of the available control inputs possible. Then, sufficient linear matrix inequality (LMI) conditions for its local exponential stabilizability are derived in the sense of Lyapunov stability criterion. An example is given to illustrate the effectiveness of the proposed design methodology. </P>
폴리토픽 모델을 갖는 시스템을 위한 적분 슬라이딩 모드 제어기의 LMI 기반 설계
최한호(Han-Ho Choi) 한국조명·전기설비학회 2010 조명·전기설비학회논문지 Vol.24 No.9
This paper presents an LMI-based method to design an integral sliding mode controller for an uncertain system with a polytopic model. The uncertain system under consideration may have mismatched parameter uncertainties in the state matrix as well as in the input matrix. Using LMIs we derive an existence condition of a sliding surface. And we give a switching feedback control law.