H-infinite control of time-varying polytopic quadratic systems with applications to a robotic manipulator
| Autor: | Jianping Zeng, Pingfang Zhu, Jin Ke, Linhong Lu |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
Lyapunov function
0209 industrial biotechnology Computer science 010102 general mathematics Mathematics::Optimization and Control Robot manipulator Bilinear interpolation Feedback form 02 engineering and technology 01 natural sciences Vertex (geometry) Nonlinear system symbols.namesake 020901 industrial engineering & automation Planar Quadratic equation Control theory symbols 0101 mathematics |
| Zdroj: | 2018 Chinese Automation Congress (CAC). |
| Popis: | The H-infinite control of time-varying polytopic quadratic (TVPQ) systems is investigated in this paper. By the polytopic decomposition of all parameter dependent matrixes in every vertex and constructing an Lyapunov Function of parameter-dependent, the bilinear LMI-based conditions for obtaining the H-infinite control law of state feedback form are presented. Furthermore, a nonlinear semidefinite programing (SDP) solver-PENLAB is introduced to solve the corresponding bilinear LMI constraints. A practical example of two-joint planar robotic manipulator is used for illustration purposes. |
| Databáze: | OpenAIRE |
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