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Robust state-feedback control of uncertain LPV systems : an LMI-based approach
Rotondo, Damiano; Nejjari Akhi-Elarab, Fatiha; Puig Cayuela, Vicenç
Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. SIC - Sistemes Intel·ligents de Control; Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control
In this paper, the problem of designing an LPV state-feedback controller for uncertain LPV systems that can guarantee some desired bounds on the H-infinity and the H-2 performances and that satisfies some desired constraints on the closed-loop poles location is considered. In the proposed approach, the vector of varying parameters is used to schedule between uncertain LTI systems. The resulting idea consists in using a double-layer polytopic description so as to take into account both the variability due to the parameter vector and the uncertainty. The first polytopic layer manages the varying parameter and is used to obtain the vertex uncertain systems, where the vertex controllers are designed. The second polytopic layer is built at each vertex system so as to take into account the model uncertainties and add robustness into the design step. Under some assumptions, the problem reduces to finding a solution to a finite number of LMIs, a problem for which efficient solvers are available nowadays. The solution to the multiobjective design problem is found both in the case when a single fixed Lyapunov function is used and when multiple parameter-varying Lyapunov functions are used. The validity and performance of the theoretical results are demonstrated through a numerical example. (C) 2014 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
Peer Reviewed
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
Controllers
PARAMETER-VARYING SYSTEMS
MISSILE AUTOPILOT DESIGN
H-INFINITY CONTROL
SCHEDULING PARAMETERS
IDENTIFICATION
OPTIMIZATION
MODELS
Controladors programables
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