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Robust guaranteed cost control of linear systems with norm bounded uncertainties and external disturbance
Zhang F(张飞); Liu GJ(刘光军); Wang HG(王洪光); Fang LJ(房立金)
Department机器人学研究室
Conference Name2010 IEEE International Conference on Information and Automation, ICIA 2010
Conference DateJune 20-23, 2010
Conference PlaceHarbin, China
Source Publication2010 IEEE International Conference on Information and Automation, ICIA 2010
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2010
Pages335-339
Indexed ByEI
EI Accession number20103413171632
Contribution Rank1
ISBN978-1-4244-5702-1
KeywordRobust Guaranteed Cost Control Uncertainties Linear Matrix Inequality Power Transmission Line Inspection Robot
AbstractThis 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.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/20053
Collection机器人学研究室
Corresponding AuthorZhang F(张飞)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang 110016, China
2.Department of Aerospace Engineering, Ryerson University, Toronto, ON M5B 2K3, Canada
3.School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110004, China
4.Graduate School, Chinese Academy of Sciences, Beijing 100039, China
Recommended Citation
GB/T 7714
Zhang F,Liu GJ,Wang HG,et al. Robust guaranteed cost control of linear systems with norm bounded uncertainties and external disturbance[C]. Piscataway, NJ, USA:IEEE,2010:335-339.
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