Robust Control and Linear Parameter Varying Approaches : Application to Vehicle Dynamics

Cover......Page 1
Front matter......Page 2
Introduction......Page 17
Continuous- and Discrete-Time LPV Models......Page 19
State Transformation......Page 21
Experimental LPV Modelling......Page 22
Local Methods......Page 23
Global Methods......Page 26
Glocal Methods......Page 28
Process Description and Simulation......Page 29
Nonlinear Mathematical Model......Page 30
Analytical LPV Modelling......Page 31
Experimental LPV Modelling......Page 32
Comparison of Results......Page 33
References......Page 34
Introduction......Page 39
Parameter-Varying Invariant Subspaces......Page 45
Controlled Invariance......Page 47
Conditioned Invariance......Page 49
Parameter-Varying Invariant Subspace Algorithms......Page 50
Inversion of LPV Systems......Page 52
Fundamental Problem of Residual Generation (FPRG)......Page 62
References......Page 66
Introduction......Page 68
Linear Switched Systems......Page 70
Finite Number of Switchings, Sampling......Page 74
Linear Switched Systems with Sign Constrained Inputs......Page 80
Controllability Analysis......Page 81
Stabilizability of Completely Controllable Linear Switched Systems......Page 82
Stabilizability by Generalized Piecewise Linear Feedback......Page 83
Bimodal Systems......Page 88
The Controllability Result......Page 91
Conclusions......Page 94
References......Page 95
Introduction......Page 99
Stability of PolynomialMatrices......Page 100
Performance......Page 103
Robustness......Page 104
A Hierarchy of LMI Problems......Page 105
Parameter-Dependent Lyapunov Functions......Page 106
References......Page 107
Introduction......Page 109
LPV Models......Page 111
Minimal Polytope......Page 113
LPV Models for the Description of Nonlinear Systems......Page 114
Observability and Detectability......Page 115
Synthesis......Page 117
Decay Rate......Page 118
Polytopic Observers in a Noisy or Uncertain Context......Page 119
Input-to-State-Stability (ISS)......Page 120
Gain......Page 123
Notation and Definitions......Page 124
Deterministic Case......Page 127
Noisy Case......Page 128
Example 1......Page 129
Example 2......Page 130
Conclusion......Page 133
References......Page 134
Design of Norm Based Fault Detection and Isolation LPV Filters
......Page 137
Introduction......Page 138
Preliminaries......Page 141
Problem Statement......Page 143
The Polytopic Approach......Page 146
The Quasi-standard Form......Page 147
The LMI Solution......Page 151
Computational Issues......Page 155
Application to an Academic System......Page 156
The LFR Approach......Page 159
Solution to the Problem......Page 161
The Case of Parameter-Dependent Residual Structuring Matrices......Page 168
Illustrative Example......Page 170
The Case of Non-measured Parameters......Page 173
Application for Early Fault Detection in Aircraft Control Surfaces Servo-Loops......Page 174
Modeling the Aileron Servo-Loop......Page 176
Filter......Page 181
The Decision Making Algorithm......Page 182
Nonlinear Simulation Results......Page 184
Conclusion......Page 186
References......Page 187
LPV Control Approaches in View of Comfort Improvement of Automotive Suspensions Equipped with MR Dampers
......Page 193
Control-Oriented Models of MR Dampers......Page 194
Damper Modeling......Page 195
Controlled-Oriented Model 1......Page 197
Controlled-Oriented Model 2......Page 198
Quarter Car Model and Performance Criteria......Page 199
Problem......Page 201
Controller Optimization for Semi-active Suspensions......Page 204
LPV Controller Design: Method 1......Page 206
Generalized LPV Plant......Page 207
Scheduling Strategy for the Parameter......Page 208
LPV Model for Semi-active Suspension Control......Page 209
Design Configuration......Page 212
Numerical Analysis and Results......Page 213
Frequency Domain Analysis......Page 215
Time Domain Analysis......Page 216
Conclusion......Page 219
References......Page 220
Introduction and Motivation......Page 223
Vehicle Modeling......Page 226
Performance Specifications and the Control Design......Page 228
Design of the Brake System......Page 230
Design of the Steering System......Page 231
Design of the Suspension System......Page 232
Actuator Selection Procedure......Page 234
Fault Information in the Decentralized Control......Page 236
Global Performances......Page 237
Driver Model in the Closed-Loop System......Page 239
Illustration of the Fault-Tolerant Control......Page 240
Illustration of a Driver Assistance System......Page 241
References......Page 244
Global Chassis Control Using Coordinated Control of Braking/Steering Actuators
......Page 246
Introduction......Page 247
Synthesis Model: Bicycle and Actuators......Page 249
Extended Bicycle Model......Page 250
Global Control Architecture......Page 251
Generalized Control Schemes Σ 1
g and Σ 2
......Page 253
Controller Design......Page 257
Method 1......Page 258
Method 2......Page 259
Method 1: Rear Braking Saturation-Handling and Active Front Steering Controller......Page 261
Method 2: Coordination of Rear Braking and Active Front Steering Control......Page 263
Non Linear Simulation Results......Page 265
Method 1......Page 266
Method 2......Page 269
Conclusions and Discussions......Page 271
References......Page 272
Introduction......Page 275
Polytopic Modeling......Page 277
Stabilization of LTI Subsystems......Page 278
Perturbed Polytopic LPV System......Page 279
Invariant-Sets for Subsystems......Page 280
Refinements of Obtained Invariant-Sets......Page 282
Invariant-Set Computation for Polytopic Systems......Page 283
Application on a Vehicle Lateral Dynamics......Page 284
Sensor Fault-Detection Principle......Page 287
Healthy Sensors......Page 289
Faulty Sensors......Page 290
Conditions for Closed-Loop Stability......Page 291
Geometric Interpretation......Page 292
References......Page 294
Introduction and Motivation......Page 296
Problem Statement and Notation......Page 299
The VRFT Approach for LPV Control System Design......Page 301
Dealing with Noisy Data......Page 302
Underparameterized Controllers......Page 305
Active Braking Control via Load Transfer Scheduling......Page 307
Implementation of the VRFT Strategy......Page 310
Simulation Results......Page 312
Concluding Remarks......Page 314
References......Page 315
Introduction......Page 317
Modeling of the Suspension Systems......Page 319
Performance Specifications of the Suspension System......Page 322
Design of a High-Level Controller Based on an LPV Method......Page 325
Modeling of the Actuator Dynamics......Page 326
Design of a Low-Level Controller Based on Backstepping Method......Page 327
Simulation Examples......Page 331
References......Page 333
Introduction......Page 335
Overview of Current Approaches......Page 338
The Modeling of a Railway Vehicle......Page 340
The Estimation of theWheel-Rail Friction Coefficient......Page 342
The Design of an Antislip Braking Control Algorithm......Page 343
Simulation Examples......Page 346
References......Page 349
Introduction......Page 351
Missile Autopilot Design via a Modified LPV Approach......Page 352
Technical Backgrounds on Standard LPV Control Techniques......Page 353
On Bounding the Parameters Rate-of-Variations......Page 354
Application to a Pitch-Axis Missile Autopilot Design......Page 355
Gain-Scheduling Methods......Page 358
Design and Interpolation of Locally Robust Controllers......Page 360
Application to Flight Control Design......Page 362
Conclusion......Page 364
NDI Control for LPV Systems......Page 365
Back to the Aircraft Control Problem......Page 366
Towards a New Design Procedure......Page 368
Interpretation and Controller Structure......Page 370
Results on the Flight Control Problem......Page 371
Concluding Remarks......Page 372
References......Page 375
Introduction......Page 378
Underwater Vehicles Models......Page 380
Non-linear Model......Page 381
Model Partition and Reduction......Page 382
Depth Cascade Control Structure......Page 383
The Altitude Control-Oriented Model......Page 384
LPV Polytopic Model for the Pitch Control......Page 385
A Polytopic LPV Control Approach for Sampling Dependent Systems......Page 386
Design Method and Analysis......Page 389
Simulation Scenario......Page 392
Simulation Results......Page 395
Conclusion......Page 396
References......Page 397
Back matter......Page 399