TY - JOUR
T1 - Integral sliding-mode-based robust output-regulation for constrained and uncertain linear systems
AU - Gutierrez, Ariana
AU - Mera, Manuel
AU - Ríos, Héctor
N1 - Publisher Copyright:
© 2022 John Wiley & Sons Ltd.
PY - 2023/2
Y1 - 2023/2
N2 - 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.
AB - 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.
KW - input saturation
KW - state constraints
KW - uncertain linear systems
UR - http://www.scopus.com/inward/record.url?scp=85142414337&partnerID=8YFLogxK
U2 - 10.1002/rnc.6489
DO - 10.1002/rnc.6489
M3 - Artículo
AN - SCOPUS:85142414337
SN - 1049-8923
VL - 33
SP - 2205
EP - 2218
JO - International Journal of Robust and Nonlinear Control
JF - International Journal of Robust and Nonlinear Control
IS - 3
ER -