Contributions to LPV modeling and gain-scheduled control applied to mechatronic systems.

Detalhes bibliográficos
Autor(a) principal: Neves, Gabriel Pereira das
Data de Publicação: 2021
Tipo de documento: Tese
Idioma: eng
Título da fonte: Biblioteca Digital de Teses e Dissertações da USP
Texto Completo: https://www.teses.usp.br/teses/disponiveis/3/3139/tde-08062022-080239/
Resumo: This thesis proposes contributions for modeling and control of a class of nonlinear systems using linear parameter-varying (LPV) models. As a first contribution, two modeling techniques specialized in the generation of LPV models with polynomial dependence on the parameters (called LPV parameters) are proposed. If the parameters are related to states or inputs, the model is called quasi-LPV. The first technique, based on Taylor series expansion, produces a more accurate model around an operating point when compared to classical linearization techniques. The second approach is based on a polynomial interpolation algorithm and yields a family of linear models within a pre-established operating range, being especially suitable for dealing with reference tracking problems. The second contribution of the thesis is a set of conditions for gain-scheduled control of LPV or quasi-LPV systems. Stabilization, H2 and H control design conditions by state and output feedback static and full-order dynamic are proposed, being solved in terms of linear matrix inequalities and search on a scalar parameter confined in the range (1, 1). All classes of controllers can present gains with arbitrary degree polynomial dependence on the LPV parameters, in general providing less conservative results as the degrees increase. In order to validate the contributions of this thesis, the proposed modeling and control techniques are applied in some mechatronic systems, considering simulations and practical experiments.
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spelling Contributions to LPV modeling and gain-scheduled control applied to mechatronic systems.Contribuições para modelagem LPV e controle por ganho escalonado aplicados em sistemas mecatrônicos.Controle (Teoria de sistemas e controle)Dynamic output-feedback controllerGain-scheduledH infinite normH2 normLMILPV modelingModelos não linearesQuasi-LPVSistemas dinâmicosState-feedback controllerStatic output-feedback controllerThis thesis proposes contributions for modeling and control of a class of nonlinear systems using linear parameter-varying (LPV) models. As a first contribution, two modeling techniques specialized in the generation of LPV models with polynomial dependence on the parameters (called LPV parameters) are proposed. If the parameters are related to states or inputs, the model is called quasi-LPV. The first technique, based on Taylor series expansion, produces a more accurate model around an operating point when compared to classical linearization techniques. The second approach is based on a polynomial interpolation algorithm and yields a family of linear models within a pre-established operating range, being especially suitable for dealing with reference tracking problems. The second contribution of the thesis is a set of conditions for gain-scheduled control of LPV or quasi-LPV systems. Stabilization, H2 and H control design conditions by state and output feedback static and full-order dynamic are proposed, being solved in terms of linear matrix inequalities and search on a scalar parameter confined in the range (1, 1). All classes of controllers can present gains with arbitrary degree polynomial dependence on the LPV parameters, in general providing less conservative results as the degrees increase. In order to validate the contributions of this thesis, the proposed modeling and control techniques are applied in some mechatronic systems, considering simulations and practical experiments.Esta tese propõe contribuições para modelagem e controle de uma classe de sistemas não lineares utilizando modelos lineares a parâmetros variantes (do inglês, Linear Parameter-Varying LPV). Como primeira contribuição, são propostas duas técnicas de modelagem especializadas na geração de modelos LPV com dependência polinomial nos parâmetros (denominados parâmetros LPV). Caso os parâmetros estejam relacionados com os estados ou entradas, o modelo é chamado de quasi-LPV. A primeira técnica, baseada na expansão em série de Taylor, produz um modelo mais acurado em torno de um ponto de operação quando comparada com as técnicas clássicas de linearização. A segunda abordagem é baseada em um algoritmo de interpolação polinomial e produz uma família de modelos lineares dentro de uma faixa de operação pré-estabelecida, sendo especialmente adequada para lidar com problemas de seguimento de trajetória. A segunda contribuição da tese ´e um conjunto de condições para controle escalonado de sistemas LPV ou quasi-LPV. São propostas condições de estabilização, controle H2 e H por realimentação de estados e de saída (estática e dinâmica de ordem completa), que são resolvidas por meio de desigualdade matriciais lineares e busca em um parâmetro escalar confinado no intervalo (1, 1). Todas as classes de controladores podem ter ganhos com dependência polinomial de grau arbitrário nos parâmetros LPV, em geral fornecendo resultados menos conservadores `a medida que os graus aumentam. Com vistas a validar as contribuições desta tese, as técnicas de modelagem e controle propostas são aplicadas em alguns sistemas mecatrônicos, considerando simulações e experimentos físicos.Biblioteca Digitais de Teses e Dissertações da USPAngelico, Bruno AugustoNeves, Gabriel Pereira das2021-11-30info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/doctoralThesisapplication/pdfhttps://www.teses.usp.br/teses/disponiveis/3/3139/tde-08062022-080239/reponame:Biblioteca Digital de Teses e Dissertações da USPinstname:Universidade de São Paulo (USP)instacron:USPLiberar o conteúdo para acesso público.info:eu-repo/semantics/openAccesseng2022-06-08T13:06:17Zoai:teses.usp.br:tde-08062022-080239Biblioteca Digital de Teses e Dissertaçõeshttp://www.teses.usp.br/PUBhttp://www.teses.usp.br/cgi-bin/mtd2br.plvirginia@if.usp.br|| atendimento@aguia.usp.br||virginia@if.usp.bropendoar:27212022-06-08T13:06:17Biblioteca Digital de Teses e Dissertações da USP - Universidade de São Paulo (USP)false
dc.title.none.fl_str_mv Contributions to LPV modeling and gain-scheduled control applied to mechatronic systems.
Contribuições para modelagem LPV e controle por ganho escalonado aplicados em sistemas mecatrônicos.
title Contributions to LPV modeling and gain-scheduled control applied to mechatronic systems.
spellingShingle Contributions to LPV modeling and gain-scheduled control applied to mechatronic systems.
Neves, Gabriel Pereira das
Controle (Teoria de sistemas e controle)
Dynamic output-feedback controller
Gain-scheduled
H infinite norm
H2 norm
LMI
LPV modeling
Modelos não lineares
Quasi-LPV
Sistemas dinâmicos
State-feedback controller
Static output-feedback controller
title_short Contributions to LPV modeling and gain-scheduled control applied to mechatronic systems.
title_full Contributions to LPV modeling and gain-scheduled control applied to mechatronic systems.
title_fullStr Contributions to LPV modeling and gain-scheduled control applied to mechatronic systems.
title_full_unstemmed Contributions to LPV modeling and gain-scheduled control applied to mechatronic systems.
title_sort Contributions to LPV modeling and gain-scheduled control applied to mechatronic systems.
author Neves, Gabriel Pereira das
author_facet Neves, Gabriel Pereira das
author_role author
dc.contributor.none.fl_str_mv Angelico, Bruno Augusto
dc.contributor.author.fl_str_mv Neves, Gabriel Pereira das
dc.subject.por.fl_str_mv Controle (Teoria de sistemas e controle)
Dynamic output-feedback controller
Gain-scheduled
H infinite norm
H2 norm
LMI
LPV modeling
Modelos não lineares
Quasi-LPV
Sistemas dinâmicos
State-feedback controller
Static output-feedback controller
topic Controle (Teoria de sistemas e controle)
Dynamic output-feedback controller
Gain-scheduled
H infinite norm
H2 norm
LMI
LPV modeling
Modelos não lineares
Quasi-LPV
Sistemas dinâmicos
State-feedback controller
Static output-feedback controller
description This thesis proposes contributions for modeling and control of a class of nonlinear systems using linear parameter-varying (LPV) models. As a first contribution, two modeling techniques specialized in the generation of LPV models with polynomial dependence on the parameters (called LPV parameters) are proposed. If the parameters are related to states or inputs, the model is called quasi-LPV. The first technique, based on Taylor series expansion, produces a more accurate model around an operating point when compared to classical linearization techniques. The second approach is based on a polynomial interpolation algorithm and yields a family of linear models within a pre-established operating range, being especially suitable for dealing with reference tracking problems. The second contribution of the thesis is a set of conditions for gain-scheduled control of LPV or quasi-LPV systems. Stabilization, H2 and H control design conditions by state and output feedback static and full-order dynamic are proposed, being solved in terms of linear matrix inequalities and search on a scalar parameter confined in the range (1, 1). All classes of controllers can present gains with arbitrary degree polynomial dependence on the LPV parameters, in general providing less conservative results as the degrees increase. In order to validate the contributions of this thesis, the proposed modeling and control techniques are applied in some mechatronic systems, considering simulations and practical experiments.
publishDate 2021
dc.date.none.fl_str_mv 2021-11-30
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/doctoralThesis
format doctoralThesis
status_str publishedVersion
dc.identifier.uri.fl_str_mv https://www.teses.usp.br/teses/disponiveis/3/3139/tde-08062022-080239/
url https://www.teses.usp.br/teses/disponiveis/3/3139/tde-08062022-080239/
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv
dc.rights.driver.fl_str_mv Liberar o conteúdo para acesso público.
info:eu-repo/semantics/openAccess
rights_invalid_str_mv Liberar o conteúdo para acesso público.
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.coverage.none.fl_str_mv
dc.publisher.none.fl_str_mv Biblioteca Digitais de Teses e Dissertações da USP
publisher.none.fl_str_mv Biblioteca Digitais de Teses e Dissertações da USP
dc.source.none.fl_str_mv
reponame:Biblioteca Digital de Teses e Dissertações da USP
instname:Universidade de São Paulo (USP)
instacron:USP
instname_str Universidade de São Paulo (USP)
instacron_str USP
institution USP
reponame_str Biblioteca Digital de Teses e Dissertações da USP
collection Biblioteca Digital de Teses e Dissertações da USP
repository.name.fl_str_mv Biblioteca Digital de Teses e Dissertações da USP - Universidade de São Paulo (USP)
repository.mail.fl_str_mv virginia@if.usp.br|| atendimento@aguia.usp.br||virginia@if.usp.br
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