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

Ruigang Wang; Roland Tóth; Ian R. Manchester

doi:10.1016/j.ifacol.2019.12.346

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 journal › Conference article › peer-review

7 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 language	English
Pages (from-to)	44-49
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	52
Issue number	28
DOIs	https://doi.org/10.1016/j.ifacol.2019.12.346
Publication status	Published - 1 Jan 2019
Event	3rd IFAC Workshop on Linear Parameter Varying Systems, LPVS 2019 - Eindhoven, Netherlands Duration: 4 Nov 2019 → 6 Nov 2019

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10.1016/j.ifacol.2019.12.346

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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.",

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AU - Tóth, Roland

AU - Manchester, Ian R.

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Y1 - 2019/1/1

N2 - 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.

AB - 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.

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T2 - 3rd IFAC Workshop on Linear Parameter Varying Systems, LPVS 2019

Y2 - 4 November 2019 through 6 November 2019

ER -

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

Abstract

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