Journal of Systems Engineering and Electronics
• CONTROL THEORY AND APPLICATION •
Liu Cui, Li Chen*, and Dengping Duan
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.
Liu Cui, Li Chen, and Dengping Duan. Gain-scheduling model predictive control for unmanned airship with LPV system description[J]. Journal of Systems Engineering and Electronics, doi: 10.1109/JSEE.2015.00113.
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