H∞ Loop Shaping Control of Input Saturated Systems with Norm-Bounded Parametric Uncertainty

Autor: Renan Lima Pereira, Karl Heinz Kienitz
Jazyk: angličtina
Rok vydání: 2015
Předmět:
Zdroj: Journal of Control Science and Engineering, Vol 2015 (2015)
Druh dokumentu: article
ISSN: 1687-5249
1687-5257
DOI: 10.1155/2015/383297
Popis: This paper proposes a gain-scheduling control design strategy for a class of linear systems with the presence of both input saturation constraints and norm-bounded parametric uncertainty. LMI conditions are derived in order to obtain a gain-scheduled controller that ensures the robust stability and performance of the closed loop system. The main steps to obtain such a controller are given. Differently from other gain-scheduled approaches in the literature, this one focuses on the problem of H∞ loop shaping control design with input saturation nonlinearity and norm-bounded uncertainty to reduce the effect of the disturbance input on the controlled outputs. Here, the design problem has been formulated in the four-block H∞ synthesis framework, in which it is possible to describe the parametric uncertainty and the input saturation nonlinearity as perturbations to normalized coprime factors of the shaped plant. As a result, the shaped plant is represented as a linear parameter-varying (LPV) system while the norm-bounded uncertainty and input saturation are incorporated. This procedure yields a linear parameter-varying structure for the controller that ensures the stability of the polytopic LPV shaped plant from the vertex property. Finally, the effectiveness of the method is illustrated through application to a physical system: a VTOL “vertical taking-off landing” helicopter.
Databáze: Directory of Open Access Journals
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