Journal of Systems Engineering and Electronics

• CONTROL THEORY AND APPLICATION • Previous Articles     Next Articles

Gain-scheduling model predictive control for unmanned airship with LPV system description

Liu Cui, Li Chen*, and Dengping Duan   

  1. School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai 200240, China
  • Online:2015-10-24 Published:2010-01-03


This paper presents a gain-scheduling model predictive control (MPC) for linear parameter varying (LPV) systems subject to actuator saturation. The proposed gain-scheduling MPC algorithm is then applied to the lateral control of unmanned airship. The unmanned airship is modeled by an LPV-type system and transformed into a polytopic uncertain description with actuator saturation. By introducing a parameter-dependent state feedback law, the set invariance condition of the polytopic uncertain system is identified. Based on the invariant set, the gain-scheduling MPC controller is presented by solving a linear matrix inequality (LMI) optimization problem. The proposed gain-scheduling MPC algorithm is demonstrated by simulating on the unmanned airship system.