Local extrema refinement strategy for quadrotor's nonlinear attitude-systems with tensor product model transformation

This paper introduces the novel concept of Affine Tensor Product (TP) Model and the corresponding model transformation algorithm. Affine TP Model is a unique representation of Linear Parameter Varying systems with advantageous properties that makes it very effective in convex optimization-based controller synthesis. The proposed model form describes the affine geometric structure of the parameter dependencies by a nearly minimum model size and enables a systematic way of geometric complexity reduction. The proposed method is capable of exact analytical model reconstruction and also supports the sampling-based numerical approach with arbitrary discretization grid and interpolation methods. The representation conforms with the latest polytopic model generation and manipulation algorithms. Along these advances, the paper reorganizes and extends the mathematical theory of TP Model Transformation. The practical merit of the proposed concept is demonstrated through a numerical example.

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Tensor Product model transformation based friction compensation of a mechatronic system

2010 IEEE 14th International Conference on Intelligent Engineering Systems ◽

10.1109/ines.2010.5483835 ◽

2010 ◽

Cited By ~ 2

Author(s):

Bela Takarics ◽

Peter Korondi ◽

Peter Baranyi

Keyword(s):

Tensor Product ◽

Model Transformation ◽

Friction Compensation ◽

Mechatronic System ◽

Product Model

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Tensor Product Model Transformation in Polytopic Model-Based Control

10.1201/b15376 ◽

2013 ◽

Author(s):

Péter Várlaki

Keyword(s):

Tensor Product ◽

Model Transformation ◽

Product Model ◽

Model Based Control ◽

Model Based

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Tensor Product Model Transformation Based Adaptive Integral-Sliding Mode Controller: Equivalent Control Method

The Scientific World JOURNAL ◽

10.1155/2013/726963 ◽

2013 ◽

Vol 2013 ◽

pp. 1-9 ◽

Cited By ~ 7

Author(s):

Guoliang Zhao ◽

Kaibiao Sun ◽

Hongxing Li

Keyword(s):

Sliding Mode Control ◽

Tensor Product ◽

Model Transformation ◽

Control Method ◽

Sliding Mode ◽

Product Model ◽

Integral Sliding Mode Control ◽

Integral Sliding Mode ◽

Mode Control ◽

Equivalent Control

This paper proposes new methodologies for the design of adaptive integral-sliding mode control. A tensor product model transformation based adaptive integral-sliding mode control law with respect to uncertainties and perturbations is studied, while upper bounds on the perturbations and uncertainties are assumed to be unknown. The advantage of proposed controllers consists in having a dynamical adaptive control gain to establish a sliding mode right at the beginning of the process. Gain dynamics ensure a reasonable adaptive gain with respect to the uncertainties. Finally, efficacy of the proposed controller is verified by simulations on an uncertain nonlinear system model.

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