TY - GEN
T1 - Gain scheduling using time-varying kalman filter for a class of LPV systems
AU - Cha, Sung Han
AU - Anderson, Brian D.O.
AU - Rotkowitz, Michael
PY - 2008
Y1 - 2008
N2 - Current gain-scheduling approaches only assure stability when the underlying parameter varies sufficiently slowly, and hence stable closed-loop is not guaranteed for more general (i.e. faster) parameter variations. Shamma and Athans (1992) provides a solution to overcome this by computing Riccati Differential Equation (RDE) online for the current parameter value with the offline Algebraic Riccati Equation (ARE) solutions for every parameter value, which is computationally demanding. This paper achieves a very significant simplification, by showing how only a finite number of AREs need be used and the online RDE solutions can be computed by table look-up and matrix inversion. In simulations the method yields results indistinguishable from those achieved in Shamma and Athans (1992).
AB - Current gain-scheduling approaches only assure stability when the underlying parameter varies sufficiently slowly, and hence stable closed-loop is not guaranteed for more general (i.e. faster) parameter variations. Shamma and Athans (1992) provides a solution to overcome this by computing Riccati Differential Equation (RDE) online for the current parameter value with the offline Algebraic Riccati Equation (ARE) solutions for every parameter value, which is computationally demanding. This paper achieves a very significant simplification, by showing how only a finite number of AREs need be used and the online RDE solutions can be computed by table look-up and matrix inversion. In simulations the method yields results indistinguishable from those achieved in Shamma and Athans (1992).
KW - Adaptive control
KW - Linear parameter-varying systems
KW - Nonlinear system control
UR - http://www.scopus.com/inward/record.url?scp=79961018593&partnerID=8YFLogxK
U2 - 10.3182/20080706-5-KR-1001.2157
DO - 10.3182/20080706-5-KR-1001.2157
M3 - Conference contribution
SN - 9783902661005
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
BT - Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
T2 - 17th World Congress, International Federation of Automatic Control, IFAC
Y2 - 6 July 2008 through 11 July 2008
ER -