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Title:Robust Controller Interpolation With Application to Gain-Scheduling
Author(s):Hencey, Brandon Michael
Doctoral Committee Chair(s):Alleyne, Andrew G.
Department / Program:Mechanical Engineering
Discipline:Mechanical Engineering
Degree Granting Institution:University of Illinois at Urbana-Champaign
Subject(s):Engineering, Mechanical
Abstract:This research focuses on designing the dynamic transition between controllers, termed controller interpolation to meet stability and performance objectives. First, an intuitive definition of the controller interpolation problem is presented. The resulting set of controller interpolation criteria is translated into a parameterization of all stabilizing interpolated controllers leveraging a Youla controller parameterization. Second, an interpolation framework is proposed for cases that lack an appropriate controller parameterization. The proposed framework mediates the interaction among controllers and the interpolated controller parameterization as a special case. For a class of linear parameter-varying plants, a convex optimization problem was formulated using the framework, and the framework is applied to optimize the gain-scheduled controller interpolation with respect to an Hinfinity norm.
Issue Date:2008
Description:168 p.
Thesis (Ph.D.)--University of Illinois at Urbana-Champaign, 2008.
Other Identifier(s):(MiAaPQ)AAI3314790
Date Available in IDEALS:2015-09-25
Date Deposited:2008

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