This article proposes a novel robust feedback linearization control scheme for affine uncertain nonlinear systems subject to matched uncertainties and constraints on the control input. In this method, instead of placing the linearized system poles at exact locations, radial paths in the open left-hand plane are selected where to freely move the poles so as to enhance as much as possible the speed of response while guaran- teeing satisfaction of input signal constraints. The stability of our proposed method is analysed by means of the multivariable circle criterion and the Kalman-Yakubovich- Popov lemma. Simulation results demonstrate how the method significantly increases the speed of response compared to fixed pole placements.

Radial pole path approach for fast response of affine constrained nonlinear systems with matched uncertainties / Mojtaba Kaheni, Mohammad Hadad Zarif, Ali Akbarzadeh Kalat, Luigi Chisci. - In: INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL. - ISSN 1099-1239. - STAMPA. - 20:(2020), pp. 142-158. [10.1002/rnc.4757]

Radial pole path approach for fast response of affine constrained nonlinear systems with matched uncertainties

Luigi Chisci
2020

Abstract

This article proposes a novel robust feedback linearization control scheme for affine uncertain nonlinear systems subject to matched uncertainties and constraints on the control input. In this method, instead of placing the linearized system poles at exact locations, radial paths in the open left-hand plane are selected where to freely move the poles so as to enhance as much as possible the speed of response while guaran- teeing satisfaction of input signal constraints. The stability of our proposed method is analysed by means of the multivariable circle criterion and the Kalman-Yakubovich- Popov lemma. Simulation results demonstrate how the method significantly increases the speed of response compared to fixed pole placements.
2020
20
142
158
Mojtaba Kaheni, Mohammad Hadad Zarif, Ali Akbarzadeh Kalat, Luigi Chisci
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Utilizza questo identificatore per citare o creare un link a questa risorsa: https://hdl.handle.net/2158/1172656
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