Nested Control Laws for H∞ Disturbance ...
Type de document :
Communication dans un congrès avec actes
Titre :
Nested Control Laws for H∞ Disturbance Rejection Based on Continuous-Time Takagi-Sugeno Models
Auteur(s) :
Márquez Borbόn, Raymundo [Auteur]
Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 [LAMIH]
Guerra, Thierry-Marie [Auteur]
Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 [LAMIH]
Bernal, Miguel [Auteur]
Kruszewski, Alexandre [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 [LAMIH]
Guerra, Thierry-Marie [Auteur]
Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 [LAMIH]
Bernal, Miguel [Auteur]
Kruszewski, Alexandre [Auteur]
Deformable Robots Simulation Team [DEFROST ]
Titre de la manifestation scientifique :
CESCIT 2015
Ville :
Maribor
Pays :
Slovénie
Date de début de la manifestation scientifique :
2015-06-22
Titre de la revue :
IFAC-PapersOnLine
Discipline(s) HAL :
Informatique [cs]/Automatique
Sciences de l'ingénieur [physics]/Automatique / Robotique
Sciences de l'ingénieur [physics]/Automatique / Robotique
Résumé en anglais : [en]
H-infmity disturbance rejection for nonlinear systems is considered in this paper. Based on an exact representation of the system in the form of a Takagi-Sugeno model as well as on the key matrix properties of Finsler's ...
Lire la suite >H-infmity disturbance rejection for nonlinear systems is considered in this paper. Based on an exact representation of the system in the form of a Takagi-Sugeno model as well as on the key matrix properties of Finsler's Lemma and Peaucelle transformation, two alternative control laws are proposed. These control laws extend and generalize the well-known parallel distributed compensation by using nested convex sums in two progressively more general structures. It is proved the proposed schemes allow combining the simplicity of the quadratic Lyapunov function with arbitrarily complex control laws, thus achieving significant improvements over existing approaches while avoiding the common problem of handling the time derivatives of the membership functions. The results thus obtained are expressed as linear matrix inequalities up to a logarithmically searchable parameter. Several examples show the advantages of the contributions.Lire moins >
Lire la suite >H-infmity disturbance rejection for nonlinear systems is considered in this paper. Based on an exact representation of the system in the form of a Takagi-Sugeno model as well as on the key matrix properties of Finsler's Lemma and Peaucelle transformation, two alternative control laws are proposed. These control laws extend and generalize the well-known parallel distributed compensation by using nested convex sums in two progressively more general structures. It is proved the proposed schemes allow combining the simplicity of the quadratic Lyapunov function with arbitrarily complex control laws, thus achieving significant improvements over existing approaches while avoiding the common problem of handling the time derivatives of the membership functions. The results thus obtained are expressed as linear matrix inequalities up to a logarithmically searchable parameter. Several examples show the advantages of the contributions.Lire moins >
Langue :
Anglais
Comité de lecture :
Oui
Audience :
Internationale
Vulgarisation :
Non
Collections :
Source :
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- https://doi.org/10.1016/j.ifacol.2015.08.145
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- https://doi.org/10.1016/j.ifacol.2015.08.145
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- https://doi.org/10.1016/j.ifacol.2015.08.145
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- https://doi.org/10.1016/j.ifacol.2015.08.145
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- https://doi.org/10.1016/j.ifacol.2015.08.145
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- https://doi.org/10.1016/j.ifacol.2015.08.145
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- https://doi.org/10.1016/j.ifacol.2015.08.145
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- https://doi.org/10.1016/j.ifacol.2015.08.145
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- j.ifacol.2015.08.145
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