线性分式变换
线性化
参数统计
控制理论(社会学)
多体系统
非线性系统
参数化模型
MATLAB语言
鲁棒控制
工程类
控制工程
计算机科学
数学
控制系统
控制(管理)
物理
电气工程
人工智能
操作系统
统计
量子力学
作者
Ervan Kassarian,Francesco Sanfedino,Daniel Alazard,Charles-Antoine Chevrier,Johan Montel
标识
DOI:10.1109/tcst.2022.3167610
摘要
This brief proposes a new linear fractional transformation (LFT) modeling approach for uncertain linear parameter-varying (LPV) multibody systems with parameter-dependent equilibrium. Traditional multibody approaches, which consist of building the nonlinear model of the whole structure and linearizing it around equilibrium after a numerical trimming, do not allow to isolate parametric variations with the LFT form. Although additional techniques, such as polynomial fitting or symbolic linearization, can provide an LFT model, they may be time-consuming or miss worst case configurations. The proposed approach relies on the trimming and linearization of the equations at the substructure level, before assembly of the multibody structure, which allows to only perform operations that preserve the LFT form throughout the linearization process. Since the physical origin of the parameters is retained, the linearized LFT-LPV model of the structure exactly covers all the plants, in a single parametric model, without introducing conservatism or fitting errors. An application to the LFT-LPV modeling of a robotic arm is proposed; in its nominal configuration, the model obtained with the proposed approach matches the model provided by the software Simscape Multibody, but it is enhanced with parametric variations with the LFT form; a robust LPV synthesis is performed using MATLAB robust control toolbox to illustrate the capacity of the proposed approach for control design.
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