An LFR approach to varying sampling control of LPV systems: application to AUVs

Emilie Roche 1 Olivier Sename 2 Daniel Simon 3, *
* Corresponding author
2 GIPSA-SLR - SLR
GIPSA-DA - Département Automatique
3 NECS - Networked Controlled Systems
Inria Grenoble - Rhône-Alpes, GIPSA-DA - Département Automatique
Abstract : This paper deals with the varying sampling control of Linear Parameter Varying (LPV) systems, where varying sampling can be used to accommodate limited computation or sensory resources. A discrete-time Linear Fractional Representation of a LPV system is used to design a gain-scheduled controller, where both varying or uncertain parameters of the plant and the sampling rate are gathered in a unique varying parameters structure. The method is successfully applied for the case of the altitude control of an Autonomous Underwater Vehicle (AUV).
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Emilie Roche, Olivier Sename, Daniel Simon. An LFR approach to varying sampling control of LPV systems: application to AUVs. 1st International Conference on Systems and Computer Science (ICSCS 2012), Aug 2012, Villeneuve d'Ascq, France. ⟨hal-00746959⟩

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