Real time stabilization of lipschitz nonlinear systems with nonlinear output

被引：0

作者：

Thabet A. ^{[1
]}

Haj Frej G.B. ^{[2
]}

Gasmi N. ^{[3
]}

Metoui B. ^{[1
]}

机构：

[1] Laboratoire de Recherche M.A.C.S., University of Gabes, Zrig

[2] IMS Laboratory, UMR 5218, University of Bordeaux, Talence Cedex

[3] Centre de Recherche en Automatique de Nancy, University of Lorraine, Nancy Cedex

来源：

Journal Europeen des Systemes Automatises | 2020年 / 53卷 / 04期

关键词：

Cost control; Lipchitz nonlinear systems; Nonlinear-observer; Real-time-implementation; Stabilization;

D O I：

10.18280/jesa.530407

中图分类号：

学科分类号：

摘要：

This brief discusses a simple stabilization strategy for a class of Lipschitz nonlinear systems based on the transformation of nonlinear function to Linear Parameter Varying system. Due to the introduction of the Differential Mean Value Theorem (DMVT), the dynamic and output nonlinear functions are transformed into Linear Parameter Varying (LPV) functions. This allows to increase the number of decision variables in the constraint to be resolved and, then, get less conservative and more general Linear Matrix Inequality (LMI) conditions. The established sufficient stability conditions are in the form of LMI with the introduction of a cost control to ensure closed-loop stability. Finally, Real Time Implementation (RTI) using a DSP device (ARDUINO UNO R3) to a typical robot is given to illustrate the performances of the proposed method with a comparison to some existing results. © 2020 Lavoisier. All rights reserved.

引用

页码：493 / 498

页数：5

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