LPV Control of actuator saturated systems: a case study on single-track vehicle control

I. B. Kucukdemiral; L. Ucun; Y. Eren; H. Gorgun; A. Delibasi; G. Cansever

doi:10.3182/20100913-3-US-2015.00003

LPV Control of actuator saturated systems: a case study on single-track vehicle control

I. B. Kucukdemiral, L. Ucun, Y. Eren, H. Gorgun, A. Delibasi, G. Cansever

Instrumentation and Control

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

The L2 gain control problem for disturbance attenuation in Linear Parameter Varying (LPV) Systems with saturating actuators has been addressed where the systems handled in the study are subjected to L2 disturbances. The aim in the presented method is to express saturating actuator analytically with a convex hull of some linear feedback. This point of view allows us to construct L2 control problem via Linear Matrix Inequalities (LMIs). Nested ellipsoids have been used to measure the stability and disturbance rejection capabilities of the control system. At the end, the proposed controller scheme has been simulated on a single-track vehicle dynamics with some linear time-varying parameters and a wind disturbance.

Original language	English
Title of host publication	Proceedings of the 5th IFAC Symposium on Mechatronic Systems
Editors	Kamal Youcef-Toumi, George T.C. Chiu
Publisher	Elsevier B.V.
Pages	589-594
Volume	43
Edition	18
DOIs	https://doi.org/10.3182/20100913-3-US-2015.00003
Publication status	Published - 2010
Event	5th IFAC Symposium on Mechatronic Systems - Marriott Boston Cambridge, Cambridge, United States Duration: 13 Sept 2010 → 15 Sept 2010 https://engineering.purdue.edu/IFACMech10/ (Link to conference website)

Publication series

Name	IFAC Proceedings Volumes

Conference

Conference	5th IFAC Symposium on Mechatronic Systems
Abbreviated title	Mechatronics 2010
Country/Territory	United States
City	Cambridge
Period	13/09/10 → 15/09/10
Internet address	https://engineering.purdue.edu/IFACMech10/ (Link to conference website)

Keywords

L2 gain control
linear matrix inequalities
actuator saturation
nonlinearity
single track vehicle model

Documents and Links

10.3182/20100913-3-US-2015.00003

Cite this

Kucukdemiral, I. B., Ucun, L., Eren, Y., Gorgun, H., Delibasi, A., & Cansever, G. (2010). LPV Control of actuator saturated systems: a case study on single-track vehicle control. In K. Youcef-Toumi, & G. T. C. Chiu (Eds.), Proceedings of the 5th IFAC Symposium on Mechatronic Systems (18 ed., Vol. 43, pp. 589-594). (IFAC Proceedings Volumes). Elsevier B.V.. https://doi.org/10.3182/20100913-3-US-2015.00003

@inproceedings{1e42caa22f4549ee92e958370070510e,

title = "LPV Control of actuator saturated systems: a case study on single-track vehicle control",

abstract = "The L2 gain control problem for disturbance attenuation in Linear Parameter Varying (LPV) Systems with saturating actuators has been addressed where the systems handled in the study are subjected to L2 disturbances. The aim in the presented method is to express saturating actuator analytically with a convex hull of some linear feedback. This point of view allows us to construct L2 control problem via Linear Matrix Inequalities (LMIs). Nested ellipsoids have been used to measure the stability and disturbance rejection capabilities of the control system. At the end, the proposed controller scheme has been simulated on a single-track vehicle dynamics with some linear time-varying parameters and a wind disturbance.",

keywords = "L2 gain control, linear matrix inequalities, actuator saturation, nonlinearity, single track vehicle model",

author = "Kucukdemiral, {I. B.} and L. Ucun and Y. Eren and H. Gorgun and A. Delibasi and G. Cansever",

year = "2010",

doi = "10.3182/20100913-3-US-2015.00003",

language = "English",

volume = "43",

series = "IFAC Proceedings Volumes",

publisher = "Elsevier B.V.",

pages = "589--594",

editor = "Kamal Youcef-Toumi and Chiu, {George T.C.}",

booktitle = "Proceedings of the 5th IFAC Symposium on Mechatronic Systems",

address = "Netherlands",

edition = "18",

note = "5th IFAC Symposium on Mechatronic Systems, Mechatronics 2010 ; Conference date: 13-09-2010 Through 15-09-2010",

url = "https://engineering.purdue.edu/IFACMech10/",

}

Kucukdemiral, IB, Ucun, L, Eren, Y, Gorgun, H, Delibasi, A & Cansever, G 2010, LPV Control of actuator saturated systems: a case study on single-track vehicle control. in K Youcef-Toumi & GTC Chiu (eds), Proceedings of the 5th IFAC Symposium on Mechatronic Systems. 18 edn, vol. 43, IFAC Proceedings Volumes, Elsevier B.V., pp. 589-594, 5th IFAC Symposium on Mechatronic Systems, Cambridge, Massachusetts, United States, 13/09/10. https://doi.org/10.3182/20100913-3-US-2015.00003

LPV Control of actuator saturated systems: a case study on single-track vehicle control. / Kucukdemiral, I. B.; Ucun, L.; Eren, Y. et al.
Proceedings of the 5th IFAC Symposium on Mechatronic Systems. ed. / Kamal Youcef-Toumi; George T.C. Chiu. Vol. 43 18. ed. Elsevier B.V., 2010. p. 589-594 (IFAC Proceedings Volumes).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - LPV Control of actuator saturated systems: a case study on single-track vehicle control

AU - Kucukdemiral, I. B.

AU - Ucun, L.

AU - Eren, Y.

AU - Gorgun, H.

AU - Delibasi, A.

AU - Cansever, G.

PY - 2010

Y1 - 2010

N2 - The L2 gain control problem for disturbance attenuation in Linear Parameter Varying (LPV) Systems with saturating actuators has been addressed where the systems handled in the study are subjected to L2 disturbances. The aim in the presented method is to express saturating actuator analytically with a convex hull of some linear feedback. This point of view allows us to construct L2 control problem via Linear Matrix Inequalities (LMIs). Nested ellipsoids have been used to measure the stability and disturbance rejection capabilities of the control system. At the end, the proposed controller scheme has been simulated on a single-track vehicle dynamics with some linear time-varying parameters and a wind disturbance.

AB - The L2 gain control problem for disturbance attenuation in Linear Parameter Varying (LPV) Systems with saturating actuators has been addressed where the systems handled in the study are subjected to L2 disturbances. The aim in the presented method is to express saturating actuator analytically with a convex hull of some linear feedback. This point of view allows us to construct L2 control problem via Linear Matrix Inequalities (LMIs). Nested ellipsoids have been used to measure the stability and disturbance rejection capabilities of the control system. At the end, the proposed controller scheme has been simulated on a single-track vehicle dynamics with some linear time-varying parameters and a wind disturbance.

KW - L2 gain control

KW - linear matrix inequalities

KW - actuator saturation

KW - nonlinearity

KW - single track vehicle model

U2 - 10.3182/20100913-3-US-2015.00003

DO - 10.3182/20100913-3-US-2015.00003

M3 - Conference contribution

VL - 43

T3 - IFAC Proceedings Volumes

SP - 589

EP - 594

BT - Proceedings of the 5th IFAC Symposium on Mechatronic Systems

A2 - Youcef-Toumi, Kamal

A2 - Chiu, George T.C.

PB - Elsevier B.V.

T2 - 5th IFAC Symposium on Mechatronic Systems

Y2 - 13 September 2010 through 15 September 2010

ER -

LPV Control of actuator saturated systems: a case study on single-track vehicle control

Abstract

Publication series

Conference

Keywords

Documents and Links

Fingerprint

Cite this