Related papers: Linear Parameter Varying Model Identification for …
This paper presents a robust controller using a Linear Parameter Varying (LPV) model of the lane-keeping system with parameter reduction. Both varying vehicle speed and roll motion on a curved road influence the lateral vehicle model…
The Linear Parameter-Varying (LPV) framework provides a modeling and control design toolchain to address nonlinear (NL) system behavior via linear surrogate models. Despite major research effort on LPV data-driven modeling, a key…
Attitude stabilization of unmanned aerial vehicles (UAVs) in uncertain environments presents significant challenges due to nonlinear dynamics, parameter variations, and sensor limitations. This paper presents a comparative study of…
The Linear Parameter-Varying (LPV) framework has been introduced with the intention to provide stability and performance guarantees for analysis and controller synthesis for Nonlinear (NL) systems via convex methods. By extending results of…
In several model-based system maintenance problems, parameters are used to represent unknown characteristics of a component, equipment degradation, etc. This allows for modelling constant, slow-varying terms. The identifiability of these…
In this paper an identification method for state-space LPV models is presented. The method is based on a particular parameterization that can be written in linear regression form and enables model estimation to be handled using…
The increasing demands for motion control result in a situation where Linear Parameter-Varying (LPV) dynamics have to be taken into account. Inverse-model feedforward control for LPV motion systems is challenging, since the inverse of an…
In controlling systems with large operating envelopes, it is often necessary to adjust the desired dynamics according to operating conditions. This paper presents a robust adaptive control architecture for linear parameter-varying (LPV)…
Obtaining models that can be used for control is of utmost importance to ensure the guidance and navigation of spacecraft, like a Generic Parafoil Return Vehicle (GPRV). In this paper, we convert a nonlinear model of the atmospheric flight…
Linear parameter-varying (LPV) models form a powerful model class to analyze and control a (nonlinear) system of interest. Identifying a LPV model of a nonlinear system can be challenging due to the difficulty of selecting the scheduling…
This paper studies the trajectory tracking and motion control problems for autonomous vehicles (AVs). A parameter adaptive control framework for AVs is proposed to enhance tracking accuracy and yaw stability. While establishing linear…
Linear Parameter Varying (LPV) Systems are a well-established class of nonlinear systems with a rich theory for stability analysis, control, and analytical response finding, among other aspects. Although there are works on data-driven…
The Linear Parameter-Varying (LPV) framework has long been used to guarantee performance and stability requirements of nonlinear (NL) systems mainly through the $\mathcal{L}_2$-gain concept. However, recent research has pointed out that…
This paper proposes a novel parametric identification approach for linear systems using Deep Learning (DL) and the Modified Relay Feedback Test (MRFT). The proposed methodology utilizes MRFT to reveal distinguishing frequencies about an…
In this paper, we consider the learning of a Reduced-Order Linear Parameter-Varying Model (ROLPVM) of a nonlinear dynamical system based on data. This is achieved by a two-step procedure. In the first step, we learn a projection to a lower…
Linear parameter-varying (LPV) models form a powerful model class to analyze and control a (nonlinear) system of interest. Identifying an LPV model of a nonlinear system can be challenging due to the difficulty of selecting the scheduling…
In this paper, we consider the analysis and control of continuous-time nonlinear systems to ensure universal shifted stability and performance, i.e., stability and performance w.r.t. each forced equilibrium point of the system. This…
This article presents a Visual Servoing Nonlinear Model Predictive Control (NMPC) scheme for autonomously tracking a moving target using multirotor Unmanned Aerial Vehicles (UAVs). The scheme is developed for surveillance and tracking of…
This paper addresses the design and application controller for a small-size unmanned aerial vehicle (UAV). In this work, the main objective is to study the modeling and attitude controller design for a small size helicopter. Based on a…
Identifying control-friendly models of nonlinear systems remains one of the major challenges at the intersection of system identification and control. The Linear Parameter-Varying (LPV) framework offers a promising solution, but existing…