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

Ezzeldin, Mahdy Abdelmonem M. and Jokić, Andrej and Van Den Bosch, P.P.J. (2010) A parameter varying Lyapunov function approach for tracking control for Takagi-Sugeno class of nonlinear systems. = A parameter varying Lyapunov function approach for tracking control for Takagi-Sugeno class of nonlinear systems. In: 2010 8th IEEE International Conference on Control and Automation, ICCA 2010, 09-11.06.2010., Xiamen, China.

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Jokić, Andrej_A parameter varying Lyapunov function approach for tracking control for Takagi-Sugeno class of nonlinear systems.pdf - Published Version
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Official URL: https://doi.org/10.1109/ICCA.2010.5524409

Abstract

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.

Item Type: Conference or Workshop Item (Lecture)
Keywords (Croatian): control design; controller synthesis; feasibility problem; gain performance; nonlinear statics; quadratic lyapunov function; reference inputs; reference models; simulation example; Takagi-Sugeno; Takagi-Sugeno models; tracking controls; tracking errors; tracking performance; two-link robot; differential equations; feedback control; linear matrix inequalities; Lyapunov functions; modal analysis; navigation; nonlinear feedback; nonlinear systems; controllers
Subjects: TECHNICAL SCIENCE > Electrical Engineering
TECHNICAL SCIENCE > Mechanical Engineering
TECHNICAL SCIENCE > Basic technical sciences
Divisions: 900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation
Indexed in Web of Science: No
Indexed in Current Contents: No
Date Deposited: 07 Jul 2015 11:22
Last Modified: 19 Nov 2018 12:13
URI: http://repozitorij.fsb.hr/id/eprint/4469

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