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Design of shifting state-feedback controllers for LPV systems subject to time-varying saturations via parameter-dependent Lyapunov functions
dc.contributor.author | Ruiz Royo, Adrián |
dc.contributor.author | Rotondo, Damiano |
dc.contributor.author | Morcego Seix, Bernardo |
dc.contributor.other | Universitat Politècnica de Catalunya. Doctorat en Automàtica, Robòtica i Visió |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2021-10-01T09:57:49Z |
dc.date.available | 2021-10-01T09:57:49Z |
dc.date.issued | 2022-07 |
dc.identifier.citation | Ruiz, A.; Rotondo, D.; Morcego, B. Design of shifting state-feedback controllers for LPV systems subject to time-varying saturations via parameter-dependent Lyapunov functions. "ISA transactions", Juliol 2022, vol. 126, pp. 213-225. |
dc.identifier.issn | 0019-0578 |
dc.identifier.uri | http://hdl.handle.net/2117/352878 |
dc.description.abstract | This paper considers the problem of designing a shifting state-feedback controller via quadratic parameter-dependent Lyapunov functions (QPDLFs) for systems subject to symmetric time-varying saturations. By means of the linear parameter varying (LPV) framework and the use of the shifting paradigm and the ellipsoidal invariant theory, it is shown that the solution to this problem can be expressed with linear matrix inequalities (LMIs) which can efficiently be solved via available solvers. Specifically, three hyper-ellipsoidal regions are defined in the state-space domain for ensuring that the control action remains in the linearity region of the actuators where saturation does not occur. Furthermore, the closed-loop convergence speed is regulated online according to the instantaneous saturation limit values through the shifting paradigm concept. The main characteristics of the proposed approach are validated by means of two illustrative examples. |
dc.description.sponsorship | This work has been partially funded by the Spanish State Research Agency (AEI) and the European Regional Development Fund (ERFD) through the project SaCoAV (ref. PID2020-114244RB-I00). This work has also been partially funded by AGAUR of Generalitat de Catalunya, Spain through the Advanced Control Systems (SAC) group grant (2017 SGR 482) and by the University of Stavanger, Norway through the project IN-12267. A. Ruiz is also supported by the Secretaria d’Universitats i Recerca de la Generalitat de Catalunya, Spain, the European Social Fund (ESF) and AGAUR under a FI SDUR grant (ref. 2020 FI-SDUR 00097). |
dc.language.iso | eng |
dc.rights | Attribution 4.0 International |
dc.rights.uri | https://creativecommons.org/licenses/by/4.0/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
dc.subject.lcsh | Lyapunov functions |
dc.subject.other | Linear parameter varying(LPV) systems |
dc.subject.other | Linear matrix inequalities (LMIs) |
dc.subject.other | Shifting paradigm |
dc.subject.other | Actuator saturation |
dc.subject.other | Invariant ellipsoids |
dc.title | Design of shifting state-feedback controllers for LPV systems subject to time-varying saturations via parameter-dependent Lyapunov functions |
dc.type | Article |
dc.subject.lemac | Lyapunov, Funcions de |
dc.identifier.doi | 10.1016/j.isatra.2021.07.025 |
dc.description.peerreviewed | Peer Reviewed |
dc.relation.publisherversion | https://www.sciencedirect.com/science/article/pii/S001905782100392X |
dc.rights.access | Open Access |
local.identifier.drac | 32059924 |
dc.description.version | Postprint (author's final draft) |
dc.relation.projectid | info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/PID2020-114244RB-I00/ES/COORDINACION SEGURA DE VEHICULOS AUTONOMOS/ |
dc.relation.projectid | info:eu-repo/grantAgreement/AGAUR/RIS3CAT/2017 SGR 482 |
local.citation.author | Ruiz, A.; Rotondo, D.; Morcego, B. |
local.citation.publicationName | ISA transactions |
local.citation.volume | 126 |
local.citation.startingPage | 213 |
local.citation.endingPage | 225 |
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