Generalized homogeneous control with integral action

Zhou, Yu; Polyakov, Andrey; Zheng, Gang

Document type :

Article dans une revue scientifique: Article de synthèse/Review paper

DOI :

10.1002/rnc.6612

Title :

Generalized homogeneous control with integral action

Author(s) :

Zhou, Yu [Auteur]
Finite-time control and estimation for distributed systems [VALSE]
Polyakov, Andrey [Auteur]

Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Finite-time control and estimation for distributed systems [VALSE]
Zheng, Gang [Auteur]

Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Deformable Robots Simulation Team [DEFROST]

Journal title :

International Journal of Robust and Nonlinear Control

Pages :

4345-4366

Publisher :

Wiley

Publication date :

2023-01-25

ISSN :

1049-8923

English keyword(s) :

integral control
finite-time
strict Lyapunov
Homogeneous system

HAL domain(s) :

Informatique [cs]/Automatique

English abstract : [en]

A generalized homogeneous control with integral action for a multiple-input plant operating under uncertainty conditions is designed. The stability analysis is essentially based on a special version of the non-smooth ...
Show more >A generalized homogeneous control with integral action for a multiple-input plant operating under uncertainty conditions is designed. The stability analysis is essentially based on a special version of the non-smooth Lyapunov function theorem for differential equations with discontinuous right-hand sides. A Lyapunov function for analysis of the closed-loop system is presented. For negative homogeneity degree, this Lyapunov function becomes a strict Lyapunov function allowing an advanced analysis to be provided. In particular, the maximum control magnitude and the settling-time of the closed-loop system are estimated and a class of disturbances to be rejected by the control law is characterized. The control parameters are tuned by solving a system of Linear Matrix Inequalities (LMIs), whose feasibility is proved at least for small (close to zero) homogeneity degrees. The theoretical results are illustrated by numerical simulations.Show less >

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Internationale

Popular science :

Non

Collections :

Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL

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