Zonotopic Linear Parameter Varying SLAM Applied to Autonomous Vehicles [PDF]
Sensors, 2022 This article presents an approach to address the problem of localisation within the autonomous driving framework. In particular, this work takes advantage of the properties of polytopic Linear Parameter Varying (LPV) systems and set-based methodologies ...
Marc Facerias +2 more
doaj +2 more sources
Kinematic/Dynamic SLAM for Autonomous Vehicles Using the Linear Parameter Varying Approach [PDF]
Sensors, 2022 Most existing algorithms in mobile robotics consider a kinematic robot model for the the Simultaneous Localization and Mapping (SLAM) problem. However, in the case of autonomous vehicles, because of the increase in the mass and velocities, a kinematic ...
Pau Vial, Vicenç Puig
doaj +2 more sources
Linear parameter-varying model for a refuellable zinc–air battery [PDF]
Royal Society Open Science, 2020 Due to the increasing trend of using renewable energy, the development of an energy storage system (ESS) attracts great research interest. A zinc–air battery (ZAB) is a promising ESS due to its high capacity, low cost and high potential to support ...
Woranunt Lao-atiman +6 more
doaj +2 more sources
Linear Parameter Varying Identification of Dynamic Joint Stiffness during Time-Varying Voluntary Contractions [PDF]
Frontiers in Computational Neuroscience, 2017 Dynamic joint stiffness is a dynamic, nonlinear relationship between the position of a joint and the torque acting about it, which can be used to describe the biomechanics of the joint and associated limb(s).
Mahsa A. Golkar +2 more
doaj +2 more sources
Consensus Control of Linear Parameter-Varying Multi-Agent Systems with Unknown Inputs [PDF]
Sensors, 2023 This paper investigates the observer-based consensus control problem for linear parameter-varying (LPV) multi-agent systems (MASs) with unknown inputs.
Fanglai Zhu, Chengmin Tan
doaj +2 more sources
Robust shrinking ellipsoid model predictive control for linear parameter varying system. [PDF]
PLoS ONE, 2017 In this paper, a new off-line model predictive control strategy is presented for a kind of linear parameter varying system with polytopic uncertainty. A nest of shrinking ellipsoids is constructed by solving linear matrix inequality.
Zhang Longge, Yan Yan
doaj +2 more sources
Data Driven Strategy for Linear Parameter Varying Control Design
IEEE Access, 2022 In this paper, we propose a novel data driven strategy framework for linear parameter varying closed loop system which consists of linear parameter varying system and linear parameter varying controller simultaneously.
Wang Jianhong +2 more
doaj +1 more source
Linear parameter-varying spectral decomposition [PDF]
2017 American Control Conference (ACC), 2017 We develop a linear parameter-varying (LPV) spectral decomposition method, based on least-squares estimation and kernel expansions. Statistical properties of the estimator are analyzed and verified in simulations. The method is linear in the parameters, applicable to both the analysis and modeling problems and is demonstrated on both simulated signals ...
Fredrik Bagge Carlson +2 more
openaire +2 more sources
Linear parameter-varying subspace identification: A unified framework
Automatica, 2021 In this paper, we establish a unified framework for subspace identification (SID) of linear parameter-varying (LPV) systems to estimate LPV state-space (SS) models in innovation form. This framework enables us to derive novel LPV SID schemes that are extensions of existing linear time-invariant (LTI) methods. More specifically, we derive the open-loop,
Pepijn Bastiaan Cox, Roland Tóth
openaire +3 more sources
Stabilizing non‐linear model predictive control using linear parameter‐varying embeddings and tubes
IET Control Theory & Applications, 2021 This paper proposes a model predictive control (MPC) approach for non‐linear systems where the non‐linear dynamics are embedded inside a linear parameter‐varying (LPV) representation. The non‐linear MPC problem is therefore replaced by an LPV MPC problem,
Jurre Hanema, Roland Tóth, Mircea Lazar
doaj +1 more source