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

I. B. Küçükdemiral, L. Ucun, Y. Eren, H. Görgün, A. Delibaşi, G. Cansever

Research output: Chapter in Book/Report/Conference proceedingConference proceeding

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 languageEnglish
Title of host publication5th IFAC Symposium on Mechatronic Systems, MECHATRONICS 2010 - Proceedings
PublisherIFAC Secretariat
Pages589-594
Number of pages6
Edition18
ISBN (Print)9783902661760
DOIs
Publication statusPublished - 2010
Externally publishedYes
Event5th IFAC Symposium on Mechatronic Systems, MECHATRONICS 2010 - Cambridge, MA, United States
Duration: 13 Sep 201015 Sep 2010

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number18
Volume43
ISSN (Print)1474-6670

Conference

Conference5th IFAC Symposium on Mechatronic Systems, MECHATRONICS 2010
CountryUnited States
CityCambridge, MA
Period13/09/1015/09/10

Keywords

  • Actuator saturation nonlinearity
  • Linear Matrix Inequalities
  • Single track vehicle model

ASJC Scopus subject areas

  • Control and Systems Engineering

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