Pattantyús-Ábrahám Géza Gépészeti Tudományok Doktori Iskola

Témavezető: Dr. Korondi Péter   

Tanszék/Intézet: Mechatronika, Optika és Gépészeti Informatika Tanszék

Mechatronikai rendszerek nemlineáris szabályozása

A kutatási téma néhány soros bemutatása

My research topic is friction compensation of non-linear mechatronic systems. Friction compensation is done by Tensor Product (TP) model transformation, a recently proposed technique for transforming given Linear Parameter-Varying (LPV) state-space models into polytopic model form, namely, to parameter-varying convex combination of Linear Time Invariant (LTI) systems. The main advantage of the TP model transformation is that it is executable in a straightforward way and the Linear Matrix Inequality (LMI) based control design frameworks can immediately be applied to the resulting polytopic models to yield controllers with tractable and guaranteed performance. I applied TP model transformation for sliding mode control, too. It is partially extension and combination of the classical optimal manifold design for linear (or linearized) system and sector sliding mode control.