Gain Scheduling Control of Wheel-Legged Robot LPV system Based on HOSVD

2019 ◽  
Author(s):  
Jiachen Li ◽  
Haitao Zhou ◽  
Haibo Feng ◽  
Songyuan Zhang ◽  
Yili Fu
Keyword(s):  
Gain Scheduling ◽  
Legged Robot ◽  
Gain Scheduling Control ◽  
Lpv System

LPV Based Robust Gain – Scheduling Control for Transient Mode of Morphing UAV

2012 ◽  
Vol 622-623 ◽  
pp. 1368-1372
Author(s):  
Song Hui Ma ◽  
Peng Yuan Shao ◽  
Cheng Fu Wu
Keyword(s):  
Control Method ◽  
Output Feedback Control ◽  
Gain Scheduling ◽  
Linearization Method ◽  
Linear Parameter Varying ◽  
Transient Mode ◽  
Feedback Control Method ◽  
Gain Scheduling Control ◽  
Lpv System ◽  
Constraint Method

Robust Gain-Scheduling control based on Linear Parameter-Varying (LPV) system is researched in theory and applied to transient mode control of a morphing wing UAV (MUAV). H∞ output feedback control method is extended to the LPV system via parameterized LMIs. In application, LPV model of MUAV is established using the Jacobian linearization method, based on which an LPV controller is designed using the proposed method to control the attitudes of transient mode in morphing process, the problem of high frequency dynamics is found and solved by a robust pole constraint method. Monte-Carlo simulation is performed for 30 times, by which satisfactory performance and robustness of the LPV controller is revealed.

scholarly journals Gain scheduling control of a bidirectional dc–dc converter with large dead‐time

2014 ◽  
Vol 7 (3) ◽  
pp. 480-488 ◽  
Author(s):  
Kristof Engelen ◽  
Sven De Breucker ◽  
Peter Tant ◽  
Johan Driesen
Keyword(s):  
Dead Time ◽  
Gain Scheduling ◽  
Gain Scheduling Control
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