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Tensor Product Based Polytopic LPV System Design of a 6-DoF Multi-strut Platform

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  • Control Theory and Applications
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Abstract

Multi-strut platform is widely used for precise instrument vibration isolation. In this paper, a Newton-Euler based 6-DOF 12-strut platform model is proposed. Nonlinearity of platform dynamic component is derived by establishing polytopic linear parameter varying (LPV) system. To guarantee the linearization accuracy of LPV system while reducing model elements to a real-time computing level. Tensor product(TP) model transformation and truncated high-order singular value decomposition(HOSVD) are used to decompose LPV system high-order tensor into unique principle basis. Then low-rank approximation of system is implemented by discarding minor singular basis vectors, for the sake of minimizing storage space and computing complexity. And then the parameter varying system is represented by convex combination of discretized system vertexes. So quadratic regulator method can be applied to vertex linear time-invariant subsystem controller to construct the global controller. Performance of the proposed multi-strut platform is demonstrated through hardware in loop simulation.

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Authors and Affiliations

  1. State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China

    Fangwu Ma & Liang Wu

  2. College of Automotive Engineering, Jilin University, Changchun, China

    Jinhang Li & Daofa Yuan

Authors
  1. Fangwu Ma
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  2. Jinhang Li
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  3. Liang Wu
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  4. Daofa Yuan
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Correspondence to Jinhang Li.

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Fangwu Ma received his B.S. and M.S. degrees in automotive engineering from Jilin University in 1982 and 1988, and his Ph.D. degree from the Imperial College London, in 1999. His research interests include wheel-legged robot, all-terrain vehicle, intelligent vehicle, and lightweight design. He is the SAE Fellow and the VP of FISITA.

Jinhang Li received his B.S. degree in automotive engineering from Jilin University in 2016, and he is now a Ph.D. candidate from Jilin University. His research interests include nonlinear control, adaptive control, and system identification.

Liang Wu received his Ph.D. in engineering for Gyeongsang National University (GNU), Korea in 2015. His research interests include Vehicle Dynamics, attitude motion control and vibration isolating control. He is currently an Associate Professor in The State Key Laboratory of Automotive Simulation and Control, Jilin University, China.

Daofa Yuan received his B.S. degree from Hainan University. He has been working for M.S. degree from Jilin University since September 2019. His research interets include semi-active control and intelligent algorithms.

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Ma, F., Li, J., Wu, L. et al. Tensor Product Based Polytopic LPV System Design of a 6-DoF Multi-strut Platform. Int. J. Control Autom. Syst. 20, 137–146 (2022). https://doi.org/10.1007/s12555-020-0318-8

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  • DOI: https://doi.org/10.1007/s12555-020-0318-8

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