Abstract
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.
Original language | English |
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Title of host publication | 2015 American Control Conference (ACC) |
Number of pages | 6 |
Publisher | IEEE |
Publication date | 28.07.2015 |
Pages | 119-124 |
Article number | 7170722 |
ISBN (Print) | 978-1-4799-8685-9 |
ISBN (Electronic) | 978-1-4799-8684-2 |
DOIs | |
Publication status | Published - 28.07.2015 |
Event | 2015 American Control Conference - Hilton Palmer House Chicago, Chicago, United States Duration: 01.07.2015 → 03.07.2015 Conference number: 113893 |