Passivity-Based Gain-Scheduled Control with Scheduling Matrices
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arXiv
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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866910564652941312 |
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| author | Moalemi, Sepehr Forbes, James Richard |
| author_facet | Moalemi, Sepehr Forbes, James Richard |
| contents | This paper considers gain-scheduling of very strictly passive (VSP) subcontrollers using scheduling matrices. The use of scheduling matrices, over scalar scheduling signals, realizes greater design freedom, which in turn can improve closed-loop performance. The form and properties of the scheduling matrices such that the overall gain-scheduled controller is VSP are explicitly discussed. The proposed gain-scheduled VSP controller is used to control a rigid two-link robot subject to model uncertainty where robust input-output stability is assured via the passivity theorem. Numerical simulation results highlight the greater design freedom, resulting in improved performance, when scheduling matrices are used over scalar scheduled signals. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2408_06476 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Passivity-Based Gain-Scheduled Control with Scheduling Matrices Moalemi, Sepehr Forbes, James Richard Systems and Control This paper considers gain-scheduling of very strictly passive (VSP) subcontrollers using scheduling matrices. The use of scheduling matrices, over scalar scheduling signals, realizes greater design freedom, which in turn can improve closed-loop performance. The form and properties of the scheduling matrices such that the overall gain-scheduled controller is VSP are explicitly discussed. The proposed gain-scheduled VSP controller is used to control a rigid two-link robot subject to model uncertainty where robust input-output stability is assured via the passivity theorem. Numerical simulation results highlight the greater design freedom, resulting in improved performance, when scheduling matrices are used over scalar scheduled signals. |
| title | Passivity-Based Gain-Scheduled Control with Scheduling Matrices |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2408.06476 |