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This paper presents the design procedure of the integral sliding mode controller with enhanced robustness properties for a class of nonlinear uncertain systems. The integral sliding mode control (I-SMC) is synthesized with the generalized disturbance attenuation scheme called robust internal-loop compensator (RIC) through the Lyapunov redesign framework, thus introducing a generalisation of the well-known...
This paper deals with the H2/H∞-approach to design of the equipment devices operated at unmanned aerial vehicles in difficult conditions of real operation. The task is formulated as the vector optimization problem. The robust optimization algorithm and results of its execution are represented.
In this paper, the problem of designing robust non-fragile guaranteed cost state feedback controller for a class of continuous-time singular piecewise-affine systems is considered. Based on a singular piecewise Lyapunov function combined with S-procedure and some matrix inequality convexifying techniques, the robust non-fragile stabilization condition is established, and meanwhile, the condition of...
This paper is concerned with congestion control for dynamic TCP/AQM networks with random delays. A robust congestion control algorithm is presented based on the H∞ approach, and the system performance is analyzed via linear matrix inequalities (LMIs). Simulation results illustrate the effectiveness of the proposed algorithm.
This paper deals with the problem of H∞ guaranteed cost finite-time control for stochastic differential inclusion systems with external disturbances. Firstly, the definition of stochastic H∞ guaranteed cost finite-time boundedness (SH∞GCFTB) is given. Secondly, by using the descriptor system approach, sufficient conditions are derived and a state feedback is designed to ensure SH∞GCFTB of the closed-loop...
This paper is devoted to the development of a new saturated control law for constrained Takagi-Sugeno fuzzy systems. These systems are subject to both control input and state constraints and also persistent disturbances bounded in amplitude. The design procedure is formulated through linear matrix inequalities (LMIs) form which can be solved by means of convex optimization techniques. Based on the...
We consider the design of self-triggered controllers for Lipschitz nonlinear systems subject to additive disturbances. The goal of the controller design is to avoid measurements and input changes as long as possible, while guaranteeing good performance subject to the worst case disturbances. Furthermore, the controller should be practically implementable. The controller is based on the emulation of...
In this work the reaching law approach to the sliding mode control of discrete time systems is considered. We propose a reaching law, in which the convergence of the sliding variable to the vicinity of zero is governed by the inverse tangent function. First we analyze the case of the unperturbed system, and then we consider a second scenario with unknown disturbances and parameter uncertainties. We...
This paper addresses the fundamental problem of improving the Luenberger Observer (LO)-based feedback control so that it can deal with effectively a wide range of uncertainties, both internal and external. It is shown that the effect of such uncertainties can be estimated and cancelled in real time, all based on the yet untapped source of information: the estimation error in the existing LO. The result...
This paper addresses the problem of establishing robust stability in the mean square sense of uncertain discrete-time networked control systems over fading channels for all admissible uncertainties. It is supposed that the plant is connected to the controller in closed-loop via a fading channel which is modeled through noise processes in multiplicative form. The uncertainty is constrained into a convex...
The problems of robust stabilization and robust ℋ∞ control by means of state feedback for uncertain linear systems in polytopic domains are investigated in this paper. New synthesis conditions based on LMI relaxations and search of scalar variables are proposed for both continuous and discrete-time systems. The main novelty comes from the fact that the closed-loop stability is certified by means of...
For stabilizing model predictive control adjusting the prediction model requires the adjustment of the terminal set and terminal cost. However, the conventional methods to design these are not practical, and often impossible, to implement in microcontrollers. In this paper, we pre-compute the terminal cost and terminal set in a form that allows to adjust them with minimal computational effort, following...
In this paper, we study the robust output regulation problem for linear systems subject to both input time-delay and communication delay via the internal model design approach. Due to the presence of the communication delay, the classical internal model has to be modified so that its dynamics can depend on the delayed state or error-output measurement. A framework for handling the robust output regulation...
In this paper, a method of robust model predictive control for constrained linear discrete-time systems with bounded disturbances is presented. The approach is based on modifying the concept of discrete-time integral sliding mode control into an optimal constrained control problem. By introducing an additional sliding mode control term into the state feedback law, the closed-loop system can be maintained...
Friction-induced vibration (FIV) is considered one of the principal causes of noise generated in mechanical systems. Furthermore, in practical cases, FIV is influenced by a great number of parameters which vary prodigiously. Nonetheless, the conventional passive structure modification remedy is verified to be of low flexibility under changeable conditions. In this paper, a robust state feedback control...
This paper provides synthesis conditions of robust state feedback control law for continuous-time linear time-invariant systems with polytopic uncertainty. By conveniently expressing the Lyapunov stability condition of the closed-loop system and using the elimination lemma, a new LMI synthesis condition with scalar searches is proposed. As main novelty, the scalar search is constrained to the interval...
This paper considers stabilization of fully actuated rigid-body attitude dynamics in the absence of angular velocity measurements and presents new robustness results to bounded unknown external disturbance torques. In particular, it is assumed that only body orientation is measured in the form of a unit-quaternion signal. It is well known that the passivity properties of the dynamics allows design...
This paper provides a technique for admissibilization of linear descriptor systems by state derivative feedback. Sufficient conditions are derived for the closed-loop system to be admissible are given in terms of linear matrix inequalities (LMIs). So, these conditions are reliable using numerical computations. An explicit expression of the desired derivative state feedback control law is also given...
In this paper, a dynamic ETC strategy for nonlinear state-feedback systems is proposed that results in guarantees for a finite ℓp-gain from disturbance input to performance output and a strictly positive lower bound on the inter-event times despite the presence of packet losses. The proposed dynamic ETC strategy has several advantages with respect to the commonly studied static ETC strategy including...
The paper compares several methods for robust state-feedback controller design via LMI for a two tank coupled system and discusses qualities of the respective LMI solutions. LMI approach is used to design a controller guaranteeing quadratic or parameter dependent robust stability, H2 and Hinf performance specification for uncertain linearized model of two tank system. The results obtained using LMI...
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