The present paper describes the development of a simple yet effective gain scheduling type fuzzy PID controller algorithm that can employ fuzzy adaptation to dynamically vary conventional PID controller gain(s). While one scheme can dynamically vary the reset rate only, an even improved scheme can effectively vary both proportional gain and reset rate of a PID controller simultaneously, employi...

This paper presents gain scheduling (GS) control of a Variable Speed Control Moment Gyroscope (VSCMG) based on sum of squares (SOS). Nonlinear motion equations of the VSCMG are complicated because they contain sine and cosine of angles of gimbals. The dynamics varies depending on an attitude of a spacecraft. In this study, the difficulty of control design of the VSCMG is solved by two methods. ...

This paper is concerned with the design of gain-scheduled controllers for Linear Parameter-Varying systems. Two alternative LMI characterizations are investigated. Both characterizations are amenable to a nite number of LMI conditions either via a gridding of the parameter range or via grid-free techniques which rely on multi-convexity concepts. Practicality and implementation issues are discus...

Predictive control of nonlinear systems is addressed by embedding the dynamics into an LPV system and by computing robust invariant sets. This mitigates the on-line computational burden by transferring most of the computations off-line. Benefits and conservatism of this approach are discussed in relation with the control of a critical mechanical system. keywords: Predictive control, constraints...

To improve the efficiency of cargo handling with cranes it is necessary to control the crane trolley position so that the swing of the hanging load is minimized. In this paper we consider a linear parameter-varying model of the crane, where the time-varying parameter is the length of the suspending rope. We consider the set of models given by frozen values of the rope length and show how all th...

Magnetic levitation conveyor systems have many advantages compared with the general conveyor systems. Because of the non-contact structure, magnetic levitation systems offer frictionless, low noise, and the ability to operate in highly clean environment. In this environment, materials are sensitive to change location. When materials move to the desired position, the controller is required to be...

Friction in mechanical systems can show a very complex behaviour. In addition to its non-linear dependence on the velocity, friction is also function of the position. In the vicinity of motion reversal points, i.e. in the prerolling/pre-sliding regime, the position dependence dominates and appears in the form of a rate-independent hysteresis with nonlocal memory. One of the ways of treating thi...