Robust output‐regulation for uncertain linear systems with input saturation

Gutierrez, Ariana; Ríos, Héctor; Mera, Manuel

doi:10.1049/iet-cta.2020.0483

Cited by 7 publications

(3 citation statements)

References 27 publications

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“…In this paper, different types of observers are provided, based on homogeneity, SMC theory, and some assumptions, which represent relative degree sufficient conditions that imply the strong observability of the system, to estimate the state of a class of multiple–outputs linear systems with some parametric uncertainties and unknown inputs. A family of homogeneinity–based observers, which is based on References 32,37,38, is introduced to solve this problem. The exact and FT/FxT convergence properties of the state estimation error are described when just some classes of unknown inputs are affecting the considered class of strongly observable linear systems.…”

Section: Introductionmentioning

confidence: 99%

Finite– and fixed–time observers for uncertain multiple–outputs linear systems with unknown inputs

Ríos

Dávila

2023

Intl J Robust & Nonlinear

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SummaryIn this paper a family of homogeneity–based observers is proposed to estimate the state of a class of multiple–outputs linear systems with some parametric uncertainties and unknown inputs. Such a family of observers possesses robustness, finite– and fixed–time convergence properties depending on the considered parametric uncertainties and unknown inputs. The structure of these observers is simple since requires neither additional observers, for an a priori stabilization, nor complex transformations, and allows us to straightforwardly apply the observers for the case of multiple–outputs. The proposed structure is based on relative degree sufficient conditions that imply the strong observability of the system. Some simulation results illustrate the performance of the proposed homogeneous observers.

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Section: Introductionmentioning

confidence: 99%

Finite– and fixed–time observers for uncertain multiple–outputs linear systems with unknown inputs

Ríos

Dávila

2023

Intl J Robust & Nonlinear

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“…For this controller, the asymptotic convergence to zero of the regulation error is guaranteed in presence of bounded matched uncertainties. In Reference 15, a robust output‐based control, based on the AEM and the BLF, is proposed for uncertain linear systems with input saturation and external disturbances. The proposed algorithm guarantees asymptotic convergence to a certain set.…”

Section: Introductionmentioning

confidence: 99%

Integral sliding‐mode‐based robust output‐regulation for constrained and uncertain linear systems

Gutierrez

Mera

Ríos

2022

Intl J Robust & Nonlinear

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This article proposes a solution to the output regulation problem for uncertain linear systems with input saturation, state constraints, and external disturbances. The proposed robust control is composed of a linear and a nonlinear part.Each part of the control can be designed independently due to the use of an integral sliding-mode control approach. The linear control, whose design is based on the barrier Lyapunov function and the attractive ellipsoid method, considers the input saturation, the state constraints, and the parameter uncertainties. The nonlinear part is based on an integral sliding-mode control approach and it can compensate the effect of some matched disturbances. Also, a safe set where the system trajectories do not transgress the state constraints and input saturation, is provided. The proposed scheme guarantees asymptotic convergence to zero of the output regulation error coping with the system constraints and disturbances. A constructive and simple method, based on linear matrix inequalities, is proposed to compute the controller gains. Some simulation results illustrate the feasibility of the proposed scheme.

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“…Numerous approaches have been proposed throughout the years to treat structured uncertainties in general. In fact, the robust control problem is still an open challenge and recent publications continue to investigate new approaches [1]- [6]. More specifically, we are concerned with the robust control problem regarding systems whose regions of uncertainty are polytopes.…”

Section: Introductionmentioning

confidence: 99%

Robust Recursive Regulator for Systems Subject to Polytopic Uncertainties

2021

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We present a robust recursive framework for the regulation of discrete-time linear systems subject to polytopic uncertainties. Based on regularized least-squares with a penalty parameter, we formulate a convex optimization problem and weight the polytope vertices altogether. In this sense, the main contribution of this paper consists of a robust recursive framework for the computation of stabilizing feedback gains. The solution does not require numerical optimization packages and relies ultimately on a single penalty parameter which is easily tuned. Moreover, the gains are obtained recursively through algebraic expressions, as opposed to related works which employ linear matrix inequalities. Under observability and controllability conditions, we demonstrate convergence and stability of the closed-loop system in terms of an algebraic Riccati equation. We provide numerical and real-world examples to validate the proposed approach and for comparison with a robust H ∞ controller.

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Robust output‐regulation for uncertain linear systems with input saturation

Cited by 7 publications

References 27 publications

Finite– and fixed–time observers for uncertain multiple–outputs linear systems with unknown inputs

Finite– and fixed–time observers for uncertain multiple–outputs linear systems with unknown inputs

Integral sliding‐mode‐based robust output‐regulation for constrained and uncertain linear systems

Robust Recursive Regulator for Systems Subject to Polytopic Uncertainties

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