Robust Control of a Class of Nonlinear Discrete-Time Systems: Design and Experimental Results on a Real-Time Emulator

被引:2
作者
Gasmi, Noussaiba [1 ]
Boutayeb, Mohamed [2 ]
Thabet, Assem [3 ]
Frej, Ghazi Bel Haj [4 ]
Aoun, Mohamed [3 ]
机构
[1] ECAM Rennes Louis Broglie, Lab Informat & Telecommun, Campus Ker Lann Bruz, F-35091 Rennes, France
[2] Univ Lorraine, CRAN UMR 7039 CNRS, Ctr Rech Automat Nancy, F-54400 Cosnes Et Romain, France
[3] Univ Gabes, Natl Engn Sch Gabes ENIG, MACS Lab, Gabes 6029, Tunisia
[4] Univ Bordeaux, Bordeaux INP, CNRS UMR 5218, IMS Lab, F-33405 Talence, France
关键词
Lipschitz discrete-time systems; observer-based stabilization design; parametric uncertainties; sliding window approach; ARDUINO UNO R3 device; OBSERVER-BASED STABILIZATION; H-INFINITY STABILIZATION; ENHANCED LMI CONDITIONS; FEEDBACK-CONTROL; OUTPUT-FEEDBACK; LIPSCHITZ;
D O I
10.3390/act10110303
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
The aim of this study is to develop a new observer-based stabilization strategy for a class of Lipschitz uncertain systems. This new strategy improves the performances of existing methods and ensures better convergence conditions. Sliding window approach involves previous estimated states and measurements in the observer and the control law structures which increase the number of decision variables in the constraint to be solved and offers less restrictive Linear Matrix Inequality (LMI) conditions. The established sufficient stability conditions are in the form of Bilinear Matrix Inequality (BMI) which is solved in two steps. First, by using a slack variable technique and an appropriate reformulation of the Young's inequality. Second, by introducing a useful approach to transform the obtained constraint to a more suitable one easily tractable by standard software algorithms. A comparison with the standard case is provided to show the superiority of the proposed H & INFIN; observer-based controller which offers greater degree of freedom. The accuracy and the potential of the proposed process are shown through real time implementation of the one-link flexible joint robot to ARDUINO UNO R3 device and numerical comparison with some existing results.
引用
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页数:19
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