Related papers: Passivity-Based Gain-Scheduled Control with Schedu…
This paper considers gain-scheduling of QSR-dissipative subsystems using scheduling matrices. The corresponding QSR-dissipative properties of the overall matrix-gain-scheduled system, which depends on the QSR properties of the subsystems…
Data-based safe gain-scheduling controllers are presented for discrete-time linear parameter-varying systems (LPV) with polytopic models. First, $\lambda$-contractivity conditions are provided under which safety and stability of the LPV…
We present a novel strategy for robust dual control of linear time-invariant systems based on gain scheduling with performance guarantees. This work relies on prior results of determining uncertainty bounds of system parameters estimated…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
This work presents a framework to synthesize structured gain-scheduled controllers for structured plants whose dynamics change according to time-varying scheduling parameters. Both the system and the controller are assumed to admit…
In this paper, we propose several rules to tune the gains for a class of passivity-based controllers for nonlinear mechanical systems. Such tuning rules prescribe a desired local transient response behavior to the closed-loop system. To…
Variable impedance control is advantageous for physical human-robot interaction to improve safety, adaptability and many other aspects. This paper presents a gain-scheduled variable stiffness control approach under strict frequency-domain…
This work proposes a solution for the longitudinal and lateral control problem of urban autonomous vehicles using a gain scheduling LPV control approach. Using the kinematic and dynamic vehicle models, a linear parameter varying (LPV)…
In this paper, we present a state-feedback controller design method for bilinear systems. To this end, we write the bilinear system as a linear fractional representation by interpreting the state in the bilinearity as a structured…
This paper proposes the design of gain-scheduled static output feedback controllers for the stabilization of continuous-time linear parameter-varying systems with $\mathcal{L}_2$-gain performance. The system is transformed into the form of…
The synthesis of adaptive gain-scheduling controller is discussed for continuous-time linear models characterized by polytopic uncertainties. The proposed approach computes the control law assuming the parameters as uncertain and adaptively…
This manuscript aims to develop and describe gain scheduling control concept for a gas turbine engine which drives a variable pitch propeller. An architecture for gain-scheduling control is developed that controls the turboshaft engine for…
This paper synthesizes a gain-scheduled controller to stabilize all possible Linear Parameter-Varying (LPV) plants that are consistent with measured input/state data records. Inspired by prior work in data informativity and LTI…
In this study, we detail the procedures for designing gain scheduling controllers by Linear Quadratic $H_\infty$ robust optimization methods in Linear Matrix Inequalities (LMI) framework. The controllers are aimed at steering control of the…
Firstly, a new state feedback model reference adaptive control approach is developed for uncertain systems with gain scheduled reference models in a multi-input multi-output (MIMO) setting. Specifically, adaptive state feedback for output…
In this paper, we present a controller that combines motion generation and control in one loop, to endow robots with reactivity and safety. In particular, we propose a control approach that enables to follow the motion plan of a first order…
In chemical process applications, model predictive control effectively deals with input and state constraints during transient operations. However, industrial PID controllers directly manipulates the actuators, so they play the key role in…
This paper considers the gain-scheduled leader-follower tracking control problem for a parameter varying complex interconnected system with directed communication topology and uncertain norm-bounded coupling between the agents. A…
The integration of converter-interfaced generation introduces new transient stability challenges to modern power systems. Classical Lyapunov- and scalable passivity-based approaches typically rely on restrictive assumptions, and finding…
This paper introduces a packet-based dual-rate control strategy to face time-varying network-induced delays, packet dropouts and packet disorder in a Networked Control System. Slow-rate sensing enables to achieve energy saving by reducing…