Abstract
A robust control feedback strategy is developed to solve the stabilization problem of constrained systems with uncertainties and output perturbations. The states are assumed to be constrained inside a given polytope and the perturbations bounded. The control law is developed using an extended version of the attractive ellipsoid method (AEM) approach, and a barrier Lyapunov function (BLF); this is a function whose value goes to infinity whenever its arguments approach to the boundary of a given set. The control parameters are obtained through the solution of some optimization problems related to the approximation of the constraints set and the characterization of a minimal ultimate bounded set for the system trajectories. The implementability of the resulting algorithm is supported by a numerical example and by the comparison with the regular AEM based on a quadratic Lyapunov function.
Original language | English |
---|---|
Pages (from-to) | 19-23 |
Number of pages | 5 |
Journal | IFAC-PapersOnLine |
Volume | 49 |
Issue number | 18 |
DOIs | |
State | Published - 2016 |
Keywords
- Barrier Lyapunov Function
- Constrained Systems
- Lyapunov Methods
- Robust Control