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

doi:10.3182/20100913-3-US-2015.00003

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 proceeding › Conference proceeding › peer-review

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	5th IFAC Symposium on Mechatronic Systems, MECHATRONICS 2010 - Proceedings
Publisher	IFAC Secretariat
Pages	589-594
Number of pages	6
Edition	18
ISBN (Print)	9783902661760
DOIs	https://doi.org/10.3182/20100913-3-US-2015.00003
Publication status	Published - 2010
Externally published	Yes
Event	5th IFAC Symposium on Mechatronic Systems, MECHATRONICS 2010 - Cambridge, United States Duration: 13 Sept 2010 → 15 Sept 2010

Publication series

Name	IFAC Proceedings Volumes (IFAC-PapersOnline)
Number	18
Volume	43
ISSN (Print)	1474-6670

Conference

Conference	5th IFAC Symposium on Mechatronic Systems, MECHATRONICS 2010
Country/Territory	United States
City	Cambridge
Period	13/09/10 → 15/09/10

Funding

This work was supported by The Scientific and Technological Research Council of Turkey (TÜBiTAK) under Grant 108E089. This work was supported by The Scientific and Technological Research Council of Turkey (TÜBiTAK) under Grant 108E089. The authors would like to thank to TÜBiTAK and anonymous reviewers for their valuable comments.

Keywords

Actuator saturation nonlinearity
Linear Matrix Inequalities
Single track vehicle model

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.3182/20100913-3-US-2015.00003

Cite this

Küçükdemiral, I. B., Ucun, L., Eren, Y., Görgün, H., Delibaşi, A., & Cansever, G. (2010). LPV control of actuator saturated systems: A case study on single-track vehicle control. In 5th IFAC Symposium on Mechatronic Systems, MECHATRONICS 2010 - Proceedings (18 ed., pp. 589-594). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 43, No. 18). IFAC Secretariat. https://doi.org/10.3182/20100913-3-US-2015.00003

LPV control of actuator saturated systems: A case study on single-track vehicle control. / Küçükdemiral, I. B.; Ucun, L.; Eren, Y. et al.
5th IFAC Symposium on Mechatronic Systems, MECHATRONICS 2010 - Proceedings. 18. ed. IFAC Secretariat, 2010. p. 589-594 (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 43, No. 18).

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding › peer-review

Küçükdemiral, IB, Ucun, L, Eren, Y, Görgün, H, Delibaşi, A & Cansever, G 2010, LPV control of actuator saturated systems: A case study on single-track vehicle control. in 5th IFAC Symposium on Mechatronic Systems, MECHATRONICS 2010 - Proceedings. 18 edn, IFAC Proceedings Volumes (IFAC-PapersOnline), no. 18, vol. 43, IFAC Secretariat, pp. 589-594, 5th IFAC Symposium on Mechatronic Systems, MECHATRONICS 2010, Cambridge, Massachusetts, United States, 13/09/10. https://doi.org/10.3182/20100913-3-US-2015.00003

Küçükdemiral IB, Ucun L, Eren Y, Görgün H, Delibaşi A, Cansever G. LPV control of actuator saturated systems: A case study on single-track vehicle control. In 5th IFAC Symposium on Mechatronic Systems, MECHATRONICS 2010 - Proceedings. 18 ed. IFAC Secretariat. 2010. p. 589-594. (IFAC Proceedings Volumes (IFAC-PapersOnline); 18). doi: 10.3182/20100913-3-US-2015.00003

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

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Keywords

ASJC Scopus subject areas

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