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Keywords = qLPV systems

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29 pages, 5526 KB  
Article
Design of UUV Underwater Autonomous Recovery System and Controller Based on Mooring-Type Mobile Docking Station
by Peiyu Han, Wei Zhang, Qiyang Wu and Yefan Shi
J. Mar. Sci. Eng. 2025, 13(10), 1861; https://doi.org/10.3390/jmse13101861 - 26 Sep 2025
Viewed by 785
Abstract
This study addresses autonomous underwater vehicle (UUV) recovery onto dynamic docking stations by proposing a fork-column recovery control system with a segmented docking strategy (long-distance approach + guided descent). To enhance model fidelity, transmission lag of actuators is captured by a specified transfer [...] Read more.
This study addresses autonomous underwater vehicle (UUV) recovery onto dynamic docking stations by proposing a fork-column recovery control system with a segmented docking strategy (long-distance approach + guided descent). To enhance model fidelity, transmission lag of actuators is captured by a specified transfer function, and nonlinear dynamics are characterized as an improved quasi-linear parameter-varying (QLPV) model. An adaptive variable–prediction–step mechanism was designed to accommodate different phases of acoustic–optical guided recovery. A model predictive controller (MPC) was developed based on an improved dynamic model to effectively handle complex constraints during the recovery process. Simulation and physical experiments demonstrated that the proposed system significantly reduces errors, among which the control accuracy (tracking error under disturbance < 0.3 m) and docking success rate (>95%) are notably superior to traditional methods, providing a reliable solution for the dynamic recovery of unmanned underwater vehicles (UUVs). Full article
(This article belongs to the Special Issue Design and Application of Underwater Vehicles)
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15 pages, 995 KB  
Article
Economic Linear Parameter Varying Model Predictive Control of the Aeration System of a Wastewater Treatment Plant
by Fatiha Nejjari, Boutrous Khoury, Vicenç Puig, Joseba Quevedo, Josep Pascual and Sergi de Campos
Sensors 2022, 22(16), 6008; https://doi.org/10.3390/s22166008 - 11 Aug 2022
Cited by 4 | Viewed by 2660
Abstract
This work proposes an economic model predictive control (EMPC) strategy in the linear parameter varying (LPV) framework for the control of dissolved oxygen concentrations in the aerated reactors of a wastewater treatment plant (WWTP). A reduced model of the complex nonlinear plant is [...] Read more.
This work proposes an economic model predictive control (EMPC) strategy in the linear parameter varying (LPV) framework for the control of dissolved oxygen concentrations in the aerated reactors of a wastewater treatment plant (WWTP). A reduced model of the complex nonlinear plant is represented in a quasi-linear parameter varying (qLPV) form to reduce computational burden, enabling the real-time operation. To facilitate the formulation of the time-varying parameters which are functions of system states, as well as for feedback control purposes, a moving horizon estimator (MHE) that uses the qLPV WWTP model is proposed. The control strategy is investigated and evaluated based on the ASM1 simulation benchmark for performance assessment. The obtained results applying the EMPC strategy for the control of the aeration system in the WWTP of Girona (Spain) show its effectiveness. Full article
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20 pages, 3973 KB  
Article
Modelling and Stabilisation of an Unconventional Airship: A Polytopic Approach
by Said Chaabani and Naoufel Azouz
Aerospace 2022, 9(5), 252; https://doi.org/10.3390/aerospace9050252 - 5 May 2022
Cited by 5 | Viewed by 2827
Abstract
The paper presents the modelling and stabilisation of an unconventional airship. The complexity of such a new design requires both proper dynamic modelling and control. A complete dynamic model is built here. Based on the developed dynamic model, a nonlinear control law is [...] Read more.
The paper presents the modelling and stabilisation of an unconventional airship. The complexity of such a new design requires both proper dynamic modelling and control. A complete dynamic model is built here. Based on the developed dynamic model, a nonlinear control law is proposed for this airship to evaluate its sensitivity during manoeuvres above a loading area. The proposed stabilisation controller derives its source from a polytopic quasi-Linear Parameter varying (qLPV) model of the nonlinear system. A controller, which takes into account certain modelling uncertainties and the stability of the system, is analysed using Lyapunov’s theory. Finally, to facilitate the design of the controller, we express the stability conditions using Linear Matrix Inequalities (LMIs). Numerical simulations are presented to highlight the power of the proposed controller. Full article
(This article belongs to the Special Issue Mission Analysis and Design of Lighter-than-Air Flying Vehicles)
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13 pages, 2116 KB  
Article
Gain-Scheduled Model Predictive Control for a Commercial Vehicle Air Brake System
by Dawei Hu, Gangyan Li and Feng Deng
Processes 2021, 9(5), 899; https://doi.org/10.3390/pr9050899 - 20 May 2021
Cited by 13 | Viewed by 4780
Abstract
This paper presents a control-oriented Linear Parameter-Varying (LPV) model for commercial vehicle air brake systems with the electro-pneumatic proportional valve based on the nonlinear mathematical model, a set of discrete-time linearized models at different target pressures with the q-Markov Cover system identification method. [...] Read more.
This paper presents a control-oriented Linear Parameter-Varying (LPV) model for commercial vehicle air brake systems with the electro-pneumatic proportional valve based on the nonlinear mathematical model, a set of discrete-time linearized models at different target pressures with the q-Markov Cover system identification method. The scheduled parameters for the LPV model were the brake chamber pressure, which was controlled by the electro-pneumatic proportional valve. On the basis of the LPV model, a family of Model Predictive Control (MPC) controllers with a Kalman filter was designed at each operation point. Then, the gain-scheduled MPC was designed over the entire operating range with the switched strategy, which was validated by experimental data. Furthermore, compared with the PID controller, the performance of the system was improved with a gain-scheduled MPC controller. Full article
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12 pages, 467 KB  
Article
Robust qLPV Tracking Fault-Tolerant Control of a 3 DOF Mechanical Crane
by Francisco-Ronay López-Estrada, Oscar Santos-Estudillo, Guillermo Valencia-Palomo, Samuel Gómez-Peñate and Carlos Hernández-Gutiérrez
Math. Comput. Appl. 2020, 25(3), 48; https://doi.org/10.3390/mca25030048 - 28 Jul 2020
Cited by 16 | Viewed by 3738
Abstract
The main aim of this paper is to propose a robust fault-tolerant control for a three degree of freedom (DOF) mechanical crane by using a convex quasi-Linear Parameter Varying (qLPV) approach for modeling the crane and a passive fault-tolerant scheme. The control objective [...] Read more.
The main aim of this paper is to propose a robust fault-tolerant control for a three degree of freedom (DOF) mechanical crane by using a convex quasi-Linear Parameter Varying (qLPV) approach for modeling the crane and a passive fault-tolerant scheme. The control objective is to minimize the load oscillations while the desired path is tracked. The convex qLPV model is obtained by considering the nonlinear sector approach, which can represent exactly the nonlinear system under the bounded nonlinear terms. To improve the system safety, tolerance to partial actuator faults is considered. Performance requirements of the tracking control system are specified in an H criteria that guarantees robustness against measurement noise, and partial faults. As a result, a set of Linear Matrix Inequalities is derived to compute the controller gains. Numerical experiments on a realistic 3 DOF crane model confirm the applicability of the control scheme. Full article
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