H∞ Loop Shaping Control of Input Saturated Systems with Norm-Bounded Parametric Uncertainty
This paper proposes a gain-scheduling control design strategy for a class of linear systems with the presence of both input saturation constraints and norm-bounded parametric uncertainty. LMI conditions are derived in order to obtain a gain-scheduled controller that ensures the robust stability and...
Saved in:
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2015-01-01
|
| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2015/383297 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832555496285929472 |
|---|---|
| author | Renan Lima Pereira Karl Heinz Kienitz |
| author_facet | Renan Lima Pereira Karl Heinz Kienitz |
| author_sort | Renan Lima Pereira |
| collection | DOAJ |
| description | This paper proposes a gain-scheduling control design strategy for a class of linear systems with the presence of both input saturation constraints and norm-bounded parametric uncertainty. LMI conditions are derived in order to obtain a gain-scheduled controller that ensures the robust stability and performance of the closed loop system. The main steps to obtain such a controller are given. Differently from other gain-scheduled approaches in the literature, this one focuses on the problem of H∞ loop shaping control design with input saturation nonlinearity and norm-bounded uncertainty to reduce the effect of the disturbance input on the controlled outputs. Here, the design problem has been formulated in the four-block H∞ synthesis framework, in which it is possible to describe the parametric uncertainty and the input saturation nonlinearity as perturbations to normalized coprime factors of the shaped plant. As a result, the shaped plant is represented as a linear parameter-varying (LPV) system while the norm-bounded uncertainty and input saturation are incorporated. This procedure yields a linear parameter-varying structure for the controller that ensures the stability of the polytopic LPV shaped plant from the vertex property. Finally, the effectiveness of the method is illustrated through application to a physical system: a VTOL “vertical taking-off landing” helicopter. |
| format | Article |
| id | doaj-art-d8eb98dbfa564bf1bcda06ac533a89d9 |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2015-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-d8eb98dbfa564bf1bcda06ac533a89d92025-02-03T05:48:12ZengWileyJournal of Control Science and Engineering1687-52491687-52572015-01-01201510.1155/2015/383297383297H∞ Loop Shaping Control of Input Saturated Systems with Norm-Bounded Parametric UncertaintyRenan Lima Pereira0Karl Heinz Kienitz1Instituto Tecnológico de Aeronáutica, Praça Marechal Eduardo Gomes, 50-DCTA, 12228-900 São José dos Campos, SP, BrazilInstituto Tecnológico de Aeronáutica, Praça Marechal Eduardo Gomes, 50-DCTA, 12228-900 São José dos Campos, SP, BrazilThis paper proposes a gain-scheduling control design strategy for a class of linear systems with the presence of both input saturation constraints and norm-bounded parametric uncertainty. LMI conditions are derived in order to obtain a gain-scheduled controller that ensures the robust stability and performance of the closed loop system. The main steps to obtain such a controller are given. Differently from other gain-scheduled approaches in the literature, this one focuses on the problem of H∞ loop shaping control design with input saturation nonlinearity and norm-bounded uncertainty to reduce the effect of the disturbance input on the controlled outputs. Here, the design problem has been formulated in the four-block H∞ synthesis framework, in which it is possible to describe the parametric uncertainty and the input saturation nonlinearity as perturbations to normalized coprime factors of the shaped plant. As a result, the shaped plant is represented as a linear parameter-varying (LPV) system while the norm-bounded uncertainty and input saturation are incorporated. This procedure yields a linear parameter-varying structure for the controller that ensures the stability of the polytopic LPV shaped plant from the vertex property. Finally, the effectiveness of the method is illustrated through application to a physical system: a VTOL “vertical taking-off landing” helicopter.http://dx.doi.org/10.1155/2015/383297 |
| spellingShingle | Renan Lima Pereira Karl Heinz Kienitz H∞ Loop Shaping Control of Input Saturated Systems with Norm-Bounded Parametric Uncertainty Journal of Control Science and Engineering |
| title | H∞ Loop Shaping Control of Input Saturated Systems with Norm-Bounded Parametric Uncertainty |
| title_full | H∞ Loop Shaping Control of Input Saturated Systems with Norm-Bounded Parametric Uncertainty |
| title_fullStr | H∞ Loop Shaping Control of Input Saturated Systems with Norm-Bounded Parametric Uncertainty |
| title_full_unstemmed | H∞ Loop Shaping Control of Input Saturated Systems with Norm-Bounded Parametric Uncertainty |
| title_short | H∞ Loop Shaping Control of Input Saturated Systems with Norm-Bounded Parametric Uncertainty |
| title_sort | h∞ loop shaping control of input saturated systems with norm bounded parametric uncertainty |
| url | http://dx.doi.org/10.1155/2015/383297 |
| work_keys_str_mv | AT renanlimapereira hloopshapingcontrolofinputsaturatedsystemswithnormboundedparametricuncertainty AT karlheinzkienitz hloopshapingcontrolofinputsaturatedsystemswithnormboundedparametricuncertainty |