Naslov
A parameter varying Lyapunov function approach for tracking control for Takagi-Sugeno class of nonlinear systems

Autori
Ezzeldin Mahdy Abdelmonem, M. ; Jokić, Andrej ; Bosch, P.P.J. van den

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings 8th IEEE International conference on Control & Automation 2010 (ICCA '10) / - , 2010

Skup
IEEE International conference on Control & Automation 2010 (ICCA '10)

Mjesto i datum
Xiamen, Kina, 2010

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
control systems; tracking control; Takagi-Sugeno model; static output feedback controller

Sažetak
A reference model tracking control technique for nonlinear systems based on the Takagi-Sugeno model is proposed. The control design synthesis is aimed to reduce the tracking error for all bounded reference inputs and disturbances and to guarantee L2 gain performance. A nonlinear static output feedback controller is proposed to tackle this problem. Unlike the approaches using a single quadratic Lyapunov function, a parameter varying quadratic Lyapunov function is employed in our approach. The controller synthesis is formulated in terms of a feasibility problem of a set of linear matrix inequalities, which can be efficiently solved. A simulation example of a two-link robot system demonstrates the tracking performance and the validity of the proposed approach.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Strojarstvo, Temeljne tehničke znanosti

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