This paper is concerned with the robust gain-scheduling output feedback control problem for a class of linear parameter-varying systems with time-varying state delay. The controlled plant under consideration is described as a linear fractional transformation (LFT) model of scheduling parameters. Dynamic integral quadratics (IQCs) are employed to characterize the input-output behavior of the state-delay nonlinearity. The robust stability and the L2-gain performance are first analyzed using quadratic Lyapunov function. Then, the design of dynamic output-feedback controllers robust against the plant state-delay nonlinearity and gain-scheduled by parameters is examined. The synthesis conditions of such robust gain-scheduling controllers are formulated in terms of linear matrix inequalities (LMIs) plus a line search, which can be solved effectively using existing algorithms. A numerical example has been used to demonstrate the effectiveness and advantages of the proposed approach.
- Dynamic Systems and Control Division
Robust Gain-Scheduling Output Feedback Control of State-Delayed LFT Systems Using Dynamic IQCs
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Yuan, C, Wu, F, & Duan, C. "Robust Gain-Scheduling Output Feedback Control of State-Delayed LFT Systems Using Dynamic IQCs." Proceedings of the ASME 2015 Dynamic Systems and Control Conference. Volume 3: Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems. Columbus, Ohio, USA. October 28–30, 2015. V003T46A002. ASME. https://doi.org/10.1115/DSCC2015-9686
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