A Comparison of LPV Gain Scheduling and Control Contraction Metrics for Nonlinear Control. Issue 28 (2019)

• Record Type: Journal Article
• Authors: Wang, Ruigang; Tóth, Roland; Manchester, Ian R.
• Is Part Of: IFAC-PapersOnLine. Volume 52:Issue 28(2019)
• Page Start: 44
• Page End: 49
• Publication Date: 2019
• Subjects: Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2019.12.346
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: Gain-scheduled control based on linear parameter-varying (LPV) models derived from local linearizations is a widespread nonlinear technique for tracking time-varying setpoints. Recently, a nonlinear control scheme based on Control Contraction Metrics (CCMs) has been developed to track arbitrary admissible trajectories. This paper presents a comparison study of these two approaches. We show that the CCM based approach is an extended gain-scheduled control scheme which achieves global reference-independent stability and performance through an exact control realization which integrates a series of local LPV controllers on a particular path between the current and reference states.