| 1. |
- Peni, T., et al.
(författare)
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Induced L2 norm improvement by interpolating controllers for discrete time LPV systems
- 2009
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Ingår i: European Journal of Control. - 0947-3580. ; 15:5, s. 1-15
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Tidskriftsartikel (refereegranskat)abstract
- The paper shows an interpolation-based control solution asapossible technique to formulate the constrained H∞ control problem for discrete-time linear parameter varying (LPV) systems. The control policy is constructed by interpolating amongapriori designed, unconstrained, constant, state feedback controllers. Invariant set theory is used to introduce the measure of the domain of applicability. It is shown that the `trade-off' between the performance and the size of the domain of applicability can be significantly reduced by controller interpolation. Hence, the interpolation-based controller becomes applicable overamuch larger region than any other single state feedback. The proposed method gives stabilizing solution not only under hard constraints, but also allows the online modification of the induced L² norm from the generalized disturbance input to the predefined performance output. Moreover, the suggested method can be applied in real-time environment.
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| 2. |
- Vanek, Balint, et al.
(författare)
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Yaw Control via Combined Braking and Steering
- 2009
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Ingår i: European Control Conference (ECC), 23-26 August 2009, Budapest, Hungary. - : IEEE. - 9783952417393 ; , s. 3652-3658
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Konferensbidrag (refereegranskat)abstract
- Active yaw stabilization for passenger vehicles, followingdriver yaw rate commands with steer-by-wire and rear break force distribution, is discussed. The problem is solved via a decomposition of the vehicle equations of motion into a static, scheduled tire characteristics map, and an affine Linear Parameter Varying (LPV) plant. Control is provided via a cascade connection of scheduled inverse tire characteristics and an LPV controller, handling both the nonlinear dynamics an the non-affine tire characteristics. Excellent tracking results are demonstrated with a high fidelity simulation even in the presence of noise and uncertainty.
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