• Corpus ID: 237372713

Linear Fractional Transformation modeling of multibody dynamics around parameter-dependent equilibrium

  title={Linear Fractional Transformation modeling of multibody dynamics around parameter-dependent equilibrium},
  author={Ervan Kassarian and Francesco Sanfedino and Daniel Alazard and Charles-Antoine Chevrier and Johan Montel},
This paper proposes a new Linear Fractional Transformation (LFT) modeling approach for uncertain Linear Parameter Varying (LPV) multibody systems with parameter-dependent equilibrium. The most common procedure relies on the polynomial fitting of a set of Linear Time Invariant models over a grid of equilibrium points, which may be time consuming and miss worst-case configurations. An alternative is the symbolic linearization of the nonlinear equations, but it is often computationally heavy for… 
Robust line-of-sight pointing control on-board a stratospheric balloon-borne platform
A dynamical model of the complete system is proposed, based on a multibody approach and accounting for parametric uncertainties with Linear Fractional Transformations, and the comparison with flight data shows that the frequency content of the platform’s motion is accurately predicted.


Generation of Optimal Linear Parametric Models for LFT-Based Robust Stability Analysis and Control Design
  • H. Pfifer, S. Hecker
  • Computer Science, Mathematics
    IEEE Transactions on Control Systems Technology
  • 2011
We present a general approach to generate a linear parametric state-space model, which approximates a nonlinear system with high accuracy and is optimally suited for linear fractional transformation
Linear dynamics of flexible multibody systems
We present a new methodology to derive a linear model of flexible multibody system dynamics. This approach is based on the two-port model of each body allowing the model of the whole system to be
Low order LFT modelling and generation from the non-linear equations of motion for a fighter aircraft
The development of an LFT representation for the nonlinear HIRMplus research model is presented. The structured singular value /spl mu/ is applied on the so developed LFT in order to clear critical
Dynamic Modeling and Analysis of Spacecraft With Variable Tilt of Flexible Appendages
This article describes a general framework to generate linearized models of satellites with large flexible appendages. The obtained model is parametrized according to the tilt of flexible appendages
On linear-parameter-varying (LPV) slip-controller design for two-wheeled vehicles
This paper describes the application of linear-parameter-varying (LPV) control design techniques to the problem of slip control for two-wheeled vehicles. A nonlinear multi-body motorcycle simulator
Theoretical modeling and numerical solution methods for flexible multibody system dynamics
The research status of modeling methods of flexible MSD in recent years is summarized, including the selection of reference frames, the flexible body’s kinematics descriptions, the deductions of dynamics equation, the model reduction techniques and the modeled methods of the contact/collision, uncertainty and multi-field coupling problems.
Linear dynamic modeling of spacecraft with various flexibleappendages and on-board angular momentums
We present here a method and some tools developed to build linear models of multi-body systems for space applications (typically satellites). The multi-body system is composed of a main body (hub)
Dynamic Modeling and Motion Control of a Soft Robotic Arm Segment
A linear parameter-varying (LPV) model is developed to describe the dynamics of a soft robotic arm segment and results of the ILC+state-feedback controller show steady-state errors are significantly reduced with iterations.
LFT modelling of the 2-DOF longitudinal nonlinear aircraft behaviour
The objective of this paper is to illustrate that the standard form or Linear Fractional Transformation LFT framework is a unique and powerful framework to treat with nonlinear systems during control
A Self Tuning Suspension Controller for Multi-body Quarter Vehicle Model
Abstract In this paper we derive both LTI (Linear Time Invariant) and LPV (Linear Parameter Varying) controllers according to the H ∞ methodology, based on a simple two degree-of-freedom quarter