Linear parameter varying control for autonomous systems: methods and application examples

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FatihCalis_Thesis.pdf

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2022-8-24

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Çalış, Fatih

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Linear parameter varying (LPV) systems are nonlinear systems which can be modelled as linear systems whose parameters change as a function of different "scheduling parameters". In other words, the dynamics of the LPV systems change during the operation hence they require a parameter dependent controller. Although classical gain-scheduling approaches satisfy some performance criteria for constant dynamics, they don't guarantee stability while the scheduling parameter is changing. On the other hand, H∞-norm based LPV control methods utilizing parameter dependent Lyapunov functions provide stability and performance guarantees for the closed-loop system throughout the whole operation. This controller synthesis problem is infinite-dimensional due to the dependency on the scheduling parameter, with the help of polytopic approach it turns into a finite-dimensional convex search with constraints in the form of linear matrix inequalities. In this thesis, LPV control is applied for lane keeping and a launch vehicle system. LPV system models are derived for both systems based on respective nonlinear models of the lateral vehicle dynamics and a rocket by linearization and selection of a suitable scheduling parameter. LPV controllers are designed using a linear matrix inequality (LMI) formulation of the stability conditions and performance constraints. The functionality of the designed controllers is validated by extensive high fidelity simulations.

Subject Keywords

Linear parameter varying systems, LPV Control, H2 control, Gain scheduling, LMI, Autopilot design

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https://hdl.handle.net/11511/99489

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Graduate School of Natural and Applied Sciences, Thesis

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Citation Formats

F. Çalış, “Linear parameter varying control for autonomous systems: methods and application examples,” M.S. - Master of Science, Middle East Technical University, 2022.