期刊
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷 61, 期 7, 页码 3713-3718出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2013.2270213
关键词
Gain-scheduling (GS) controller; H-infinity design; linear parameter-varying (LPV) systems
资金
- Center-of-Excellence Optimization in Engineering Center, KU Leuven, under Special Research Fund (BOV) [PFV/10/002]
- Belgian Programme on Interuniversity Attraction Poles
- Belgian Federal Science Policy Office (DYSCO)
- European research project EMBOCON [FP7-ICT-2009-4 248940]
- KU Leuven's Concerted Research Action [GOA/10/11]
- Research Foundation Flanders (FWO Vlaanderen) [G.0377.09]
This paper extends a recently developed interpolation-based approach to design gain-scheduled controllers for linear parameter-varying systems with a thorough evaluation, comprising both simulations and experiments, on an overhead crane system. In the first step of the approach, linear time-invariant controllers are designed for local working conditions of the system using a multiobjective H-infinity method. With the help of this method, the fundamental tradeoff between reference tracking and disturbance rejection in the overhead crane control problem is analyzed. In the second step, a state-space interpolation method is used to calculate a gain-scheduled controller. Although this approach does not guarantee stability and performance under parameter variations, experiments on the crane setup show that these variations do not compromise the performance of the obtained controller.
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