Journal
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
Volume 20, Issue 13, Pages 1502-1519Publisher
WILEY
DOI: 10.1002/rnc.1525
Keywords
time-delay systems; parametric Lyapunov matrix equation; low gain feedback; actuator saturation; semi-global stabilization
Funding
- National Natural Science Foundation of China [60904007, 60710002]
- Harbin Institute of Technology [HITQNJS.2009.054]
- Self-Planned Task of State Key Laboratory of Robotics and System [SKLRS200801A03]
- Cheung Kong Professorship
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This paper studies the problem of stabilizing a linear system with delayed and saturating feedback. It is known that the eigenstructure assignment-based low-gain feedback law (globally) stabilizes a linear system in the presence of arbitrarily large delay in its input, and semi-globally stabilizes it when the input is also subject to saturation, as long as all its open-loop poles are located in the closed left-half plane. Based on a recently developed parametric Lyapunov equation-based low-gain feedback design method, this paper presents alternative, but simpler and more elegant, feedback laws that solve these problems. The advantages of this new approach include its simplicity, the capability of giving explicit conditions to guarantee the stability of the closed-loop system, and the ease in scheduling the low-gain parameter on line to achieve global stabilization in the presence of actuator saturation. Copyright (C) 2009 John Wiley & Sons, Ltd.
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