Passivity-Based Gain-Scheduled Control with Scheduling Matrices
Abstract
This paper considers gain-scheduling of very strictly passive (VSP) subcontrollers using scheduling matrices. The use of scheduling matrices, over scalar scheduling signals, realizes greater design freedom, which in turn can improve closed-loop performance. The form and properties of the scheduling matrices such that the overall gain-scheduled controller is VSP are explicitly discussed. The proposed gain-scheduled VSP controller is used to control a rigid two-link robot subject to model uncertainty where robust input-output stability is assured via the passivity theorem. Numerical simulation results highlight the greater design freedom, resulting in improved performance, when scheduling matrices are used over scalar scheduled signals.
Cite
@article{arxiv.2408.06476,
title = {Passivity-Based Gain-Scheduled Control with Scheduling Matrices},
author = {Sepehr Moalemi and James Richard Forbes},
journal= {arXiv preprint arXiv:2408.06476},
year = {2024}
}
Comments
To be published in IEEE Conference on Control Technology and Applications (CCTA) 2024