MIMO Homogeneous Integral Control Design ...
Document type :
Compte-rendu et recension critique d'ouvrage
DOI :
Title :
MIMO Homogeneous Integral Control Design using the Implicit Lyapunov Function Approach
Author(s) :
Mercado-Uribe, Angel [Auteur]
Universidad Nacional Autónoma de México = National Autonomous University of Mexico [UNAM]
Moreno Pérez, Jaime [Auteur]
Universidad Nacional Autónoma de México = National Autonomous University of Mexico [UNAM]
Polyakov, Andrey [Auteur]
Finite-time control and estimation for distributed systems [VALSE]
Efimov, Denis [Auteur]
Finite-time control and estimation for distributed systems [VALSE]
National Research University of Information Technologies, Mechanics and Optics [St. Petersburg] [ITMO]
Universidad Nacional Autónoma de México = National Autonomous University of Mexico [UNAM]
Moreno Pérez, Jaime [Auteur]
Universidad Nacional Autónoma de México = National Autonomous University of Mexico [UNAM]
Polyakov, Andrey [Auteur]
Finite-time control and estimation for distributed systems [VALSE]
Efimov, Denis [Auteur]
Finite-time control and estimation for distributed systems [VALSE]
National Research University of Information Technologies, Mechanics and Optics [St. Petersburg] [ITMO]
Journal title :
International Journal of Robust and Nonlinear Control
Publisher :
Wiley
Publication date :
2021-03-18
ISSN :
1049-8923
English keyword(s) :
Homogeneous controller
Nonlinear control design
Robustness
high order sliding mode control
implicit Lyapunov function
Nonlinear control design
Robustness
high order sliding mode control
implicit Lyapunov function
HAL domain(s) :
Informatique [cs]/Automatique
English abstract : [en]
In this paper, continuous and discontinuous integral controllers for MIMO systems are designed for a large class of nonlinear systems, which are (partially) feedback linearizable. These controllers of arbitrary positive ...
Show more >In this paper, continuous and discontinuous integral controllers for MIMO systems are designed for a large class of nonlinear systems, which are (partially) feedback linearizable. These controllers of arbitrary positive or negative degree of homogeneity are derived by combining a Lyapunov function obtained from the Implicit Lyapunov Function (ILF) method with some extra explicit terms. Discontinuous integral controllers are able to stabilize an equilibrium or track a time-varying signal in finite time, while rejecting vanishing uncertainties and non-vanishing Lipschitz matching perturbations. Continuous integral controllers achieve asymptotic stabilization despite non-vanishing constant perturbations in finite-time, exponentially or nearly fixed-time for negative, zero or positive homogeneity degree, respectively. The design method and the properties of the different classes of integral controllers are illustrated by means of a simulation example.Show less >
Show more >In this paper, continuous and discontinuous integral controllers for MIMO systems are designed for a large class of nonlinear systems, which are (partially) feedback linearizable. These controllers of arbitrary positive or negative degree of homogeneity are derived by combining a Lyapunov function obtained from the Implicit Lyapunov Function (ILF) method with some extra explicit terms. Discontinuous integral controllers are able to stabilize an equilibrium or track a time-varying signal in finite time, while rejecting vanishing uncertainties and non-vanishing Lipschitz matching perturbations. Continuous integral controllers achieve asymptotic stabilization despite non-vanishing constant perturbations in finite-time, exponentially or nearly fixed-time for negative, zero or positive homogeneity degree, respectively. The design method and the properties of the different classes of integral controllers are illustrated by means of a simulation example.Show less >
Language :
Anglais
Popular science :
Non
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