An LMI Approach to Control of Exponentially Unstable Systems Subject to Saturation and Time-Varying Delay in the Input

Yoon, Se Young; Anantachaisilp, Parinya; Lin, Zongli

doi:10.1007/978-3-319-18072-4_19

Cited by 2 publications

(2 citation statements)

References 20 publications

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“…The inequality (16) illustrates that all the signals of the disturbance observer are bounded and the errors e d 0 , e d L , and e d x ð Þ exponentially tend to zero [27], indicating that the proposed observer in equations 11-13 is exponentially stable such that b…”

Section: Infinite Dimensional Disturbance Observer Design and Analysismentioning

confidence: 99%

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Active Vibration Control for a Flexible‐Link Manipulator with Input Constraint Based on a Disturbance Observer

Yang

Liu

2018

Asian Journal of Control

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This paper mainly focuses on designing an active vibration control for a flexible-link manipulator in the presence of input constraint and unknown spatially infinite dimensional disturbances. The manipulator we studied can be taken as an Euler-Bernoulli beam, the dynamic model of which has the form of partial differential equations. As the existence of spatially infinite dimensional disturbances on the beam, we first design a disturbance observer to estimate infinite dimensional disturbances. The proposed disturbance observer is guaranteed exponentially stable. Then, taking input saturation into account, a novel disturbance-observer-based controller is developed to regulate the joint angular position and rapidly suppress vibrations on the beam, which is the main contribution of this study. The closed-loop system is validated asymptotically stable by theoretical analysis. The effectiveness of the proposed scheme is demonstrated by numerical simulations.

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Section: Infinite Dimensional Disturbance Observer Design and Analysismentioning

confidence: 99%

“…In [15], a new adaptive scheme is proposed to ensure the bounds of the control torques. An LMI approach is designed to control exponentially unstable systems subject to input saturation [16]. The author studied an anti-windup compensation method [17] for a class of switched linear systems with actuator saturation.…”

Section: Introductionmentioning

confidence: 99%

Active Vibration Control for a Flexible‐Link Manipulator with Input Constraint Based on a Disturbance Observer

Yang

Liu

2018

Asian Journal of Control

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Analysis of Predictor Feedback for Time-Varying Delays that may Assume Zero Value

Liao

Krstić

2020

2020 59th IEEE Conference on Decision and Control (CDC)

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An LMI Approach to Control of Exponentially Unstable Systems Subject to Saturation and Time-Varying Delay in the Input

Cited by 2 publications

References 20 publications

Active Vibration Control for a Flexible‐Link Manipulator with Input Constraint Based on a Disturbance Observer

Active Vibration Control for a Flexible‐Link Manipulator with Input Constraint Based on a Disturbance Observer

Analysis of Predictor Feedback for Time-Varying Delays that may Assume Zero Value

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