Passivity-Based Gain-Scheduled Control with Scheduling Matrices
<|reference_start|>Passivity-Based Gain-Scheduled Control with Scheduling Matrices: This paper considers gain-scheduling of very strictly passive (VSP) subcontrollers using scheduling matrices. The use of scheduling matrices, over scalar scheduling signals, realizes greater design freedom, which in turn can improve closed-loop performance. The form and properties of the scheduling matrices such that the overall gain-scheduled controller is VSP are explicitly discussed. The proposed gain-scheduled VSP controller is used to control a rigid two-link robot subject to model uncertainty where robust input-output stability is assured via the passivity theorem. Numerical simulation results highlight the greater design freedom, resulting in improved performance, when scheduling matrices are used over scalar scheduled signals.<|reference_end|>
@article{moalemi2024passivity-based,
    title={Passivity-Based Gain-Scheduled Control with Scheduling Matrices},
    author={Sepehr Moalemi, James Richard Forbes},
    journal={arXiv preprint arXiv:2408.06476},
    year={2024},
    archivePrefix={arXiv},
    eprint={2408.06476},
    primaryClass={eess.SY cs.SY}
}