A Comparison of LPV Gain Scheduling and Control Contraction Metrics for Nonlinear Control

Ruigang Wang (Corresponding author), Roland Tóth (Corresponding author), Ian R. Manchester (Corresponding author)

Research output: Contribution to journalConference articlepeer-review

2 Citations (Scopus)

Abstract

Gain-scheduled control based on linear parameter-varying (LPV) models derived from local linearizations is a widespread nonlinear technique for tracking time-varying setpoints. Recently, a nonlinear control scheme based on Control Contraction Metrics (CCMs) has been developed to track arbitrary admissible trajectories. This paper presents a comparison study of these two approaches. We show that the CCM based approach is an extended gain-scheduled control scheme which achieves global reference-independent stability and performance through an exact control realization which integrates a series of local LPV controllers on a particular path between the current and reference states.

Original languageEnglish
Pages (from-to)44-49
Number of pages6
JournalIFAC-PapersOnLine
Volume52
Issue number28
DOIs
Publication statusPublished - 1 Jan 2019
Event3rd IFAC Workshop on Linear Parameter Varying Systems, LPVS 2019 - Eindhoven, Netherlands
Duration: 4 Nov 20196 Nov 2019

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