Observer-based model reference control of Takagi-Sugeno-Lipschitz systems affected by disturbances using quadratic boundedness
| Autor: | Damiano Rotondo, Ruicong Yang, Vicenç Puig |
|---|---|
| Přispěvatelé: | Universitat Politècnica de Catalunya. Doctorat en Automàtica, Robòtica i Visió, Institut de Robòtica i Informàtica Industrial, Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial, Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control |
| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: | |
| Zdroj: | UPCommons. Portal del coneixement obert de la UPC Universitat Politècnica de Catalunya (UPC) |
| Popis: | In this paper, a model reference control strategy is proposed in order to perform trajectory tracking in Takagi–Sugeno–Lipschitz (TSL) systems. Since the state vector is assumed not to be completely available for measurement, a proportional observer is added to the control scheme in order to apply an estimate-feedback control action instead of a state-feedback one. The overall design of both the controller and the observer gains are performed using a Lyapunov-based quadratic boundedness specification, in order to improve the robustness against unknown exogenous disturbances. It is shown that the conditions that ensure convergence within ellipsoidal regions of the tracking and estimation errors can be expressed in the form of a linear matrix inequality (LMI) formulation. The effectiveness of the developed control strategy is demonstrated by means of simulation results. |
| Databáze: | OpenAIRE |
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