Compact LFT-LPV Modeling With Automated Parameterization for Efficient LPV Controller Synthesis

C. Hoffmann; H. Werner

doi:10.1109/ACC.2015.7170722

Compact LFT-LPV Modeling With Automated Parameterization for Efficient LPV Controller Synthesis

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
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	https://doi.org/10.1109/ACC.2015.7170722
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

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title = "Compact LFT-LPV Modeling With Automated Parameterization for Efficient LPV Controller Synthesis",

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.",

author = "C. Hoffmann and H. Werner",

year = "2015",

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doi = "10.1109/ACC.2015.7170722",

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series = "Proceedings of the American Control Conference",

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T1 - Compact LFT-LPV Modeling With Automated Parameterization for Efficient LPV Controller Synthesis

AU - Hoffmann, C.

AU - Werner, H.

N1 - Conference code: 113893

PY - 2015/7/28

Y1 - 2015/7/28

N2 - 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.

AB - 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.

UR - https://www.scopus.com/pages/publications/84940926146

U2 - 10.1109/ACC.2015.7170722

DO - 10.1109/ACC.2015.7170722

M3 - Conference contribution

SN - 978-1-4799-8685-9

T3 - Proceedings of the American Control Conference

SP - 119

EP - 124

BT - 2015 American Control Conference (ACC)

PB - IEEE

T2 - 2015 American Control Conference

Y2 - 1 July 2015 through 3 July 2015

ER -

Compact LFT-LPV Modeling With Automated Parameterization for Efficient LPV Controller Synthesis

Abstract

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