Robust Guaranteed Cost Control of Linear Systems with Norm Bounded Uncertainties and External Disturbance

摘要：

This paper proposes a robust guaranteed cost control method for a linear system with norm bounded time varying parametric uncertainties and external disturbance. Using the Lyapunov stability theory and linear matrix inequality method, a robust guaranteed cost control law is derived to guarantee that the closed loop system is not only stable, but also has adequately quadratic and H performance levels for all the admissible uncertainties and external disturbance. A convex optimization problem is formulated to obtain the optimal state feedback controller which can minimize the quadratic and H performance levels. Based on the model of the robot prototype for inspecting power transmission lines, simulation results verify the effectiveness of the proposed method.

关键词： Robust guaranteed cost control uncertainties linear matrix inequality power transmission line inspection robot

作者: Fei Zhang Guangjun Liu Hongguang Wang Lijin Fang

作者单位: State Key Laboratory of Robotics,Shenyang Institute of Automation,CAS,Shenyang 110016,China Graduate Department of Aerospace Engineering,Ryerson University,Toronto M5B 2K3,Canada State Key Laboratory of Robotics,Shenyang Institute of Automation,CAS,Shenyang 110016,China School of Mechanical Engineering and Automation,Northeastern University,Shenyang 110004,China

会议类型: 国际会议

会议名称: 2010 IEEE信息与自动化国际会议(ICIA 2010)

会议地点: 哈尔滨

会议语种:英文

页码: 1-5

在线出版日期: 2010-06-20（万方平台首次上网日期，不代表论文的发表时间）