Journal
INTERNATIONAL JOURNAL OF CONTROL
Volume 89, Issue 12, Pages 2520-2532Publisher
TAYLOR & FRANCIS LTD
DOI: 10.1080/00207179.2016.1168528
Keywords
Nonlinear systems; robust control; linear matrix inequalities (LMI); linear state variable feedback (LSVF) control; inverted pendulum system
Categories
Funding
- Technical Education Quality Improvement Programme (TEQIP-II) of Indian Institute of Engineering Science and Technology, Shibpur
Ask authors/readers for more resources
This work centres around the stabilisation of a nonlinear system containing parametric uncertainty using a new Control Lyapunov Function (using Lie derivatives) which comes up with a linear matrix inequality-based design. The paper has three major contributions. The first one is an extension of a theorem proposed to find the convex-concave bounds of nonlinear function towards robustness. With some restrictions in the structure of the uncertainty, the theory developed heremay be applied to find out the bounds of any nonlinear function with uncertainty. The next one is themain contribution of this paper in which the form of the control law obtained is linear and has several advantages from a practical point of view over almost all other nonlinear control techniques. The third one is the expansion of the proposed control scheme towards underactuated systems. To show the effectiveness of the proposed theory the controller design is attempted for both the traditional cart inverted pendulum and the more complex mobile wheeled inverted pendulum model.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available