Linear parameter varying error system modeling for nonlinear systems and its applications

Author

Kanai, Masaki ; Yamakita, Masaki

Author_Institution

Dept. of Mech. & Control Eng., Tokyo Inst. of Technol., Tokyo, Japan

fYear

2011

Firstpage

1151

Lastpage

1156

Abstract

This paper presents a Linear parameter varying (LPV) error system modeling between a real plant and its simplified model, and it is applied to some controller design methods for the real plants. The control methods are model predictive control and trajectory tracking control based on control Lyapunov function (CLF) using the LPV error system modeling. Some numerical simulations show the accuracy of the LPV error modeling of uncertainties and that the proposed controllers based on the LPV error modeling result in more accurate control performances.

Keywords

Lyapunov methods; control system synthesis; linear systems; nonlinear control systems; numerical analysis; position control; predictive control; tracking; control Lyapunov function; controller design methods; linear parameter varying error system modeling; model predictive control; nonlinear systems; numerical simulations; real plants; trajectory tracking control; Equations; Mathematical model; Nonlinear systems; Numerical models; Predictive control; Predictive models; Target tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications (CCA), 2011 IEEE International Conference on

Conference_Location

Denver, CO

Print_ISBN

978-1-4577-1062-9

Electronic_ISBN

978-1-4577-1061-2

Type

conf

DOI

10.1109/CCA.2011.6044354

Filename

6044354