Title :
An LFR approach to varying sampling control of LPV systems: Application to AUVs
Author :
Roche, E. ; Sename, O. ; Simon, D.
Author_Institution :
Lab. IMS, Talence, France
Abstract :
This paper deals with the varying sampling control of Linear Parameter Varying (LPV) systems, where varying sampling can be used to accommodate limited computation or sensory resources. A discrete-time Linear Fractional Representation of a LPV system is used to design a gain-scheduled controller, where both varying or uncertain parameters of the plant and the sampling rate are gathered in a unique varying parameters structure. The method is successfully applied for the case of the altitude control of an Autonomous Underwater Vehicle (AUV).
Keywords :
autonomous underwater vehicles; discrete time systems; linear systems; uncertain systems; AUV; LFR approach; LPV systems; altitude control; autonomous underwater vehicle; discrete-time linear fractional representation; gain-scheduled controller; linear parameter varying system; parameter variation; sampling rate; uncertain parameters; varying sampling control;
Conference_Titel :
Systems and Computer Science (ICSCS), 2012 1st International Conference on
Conference_Location :
Lille
Print_ISBN :
978-1-4673-0673-7
Electronic_ISBN :
978-1-4673-0672-0
DOI :
10.1109/IConSCS.2012.6502473
