Robust control of feedback linearizable system with the parameter uncertainty and input constraint

被引：3
|
作者：
Son, WK [1 ]
Choi, JY [1 ]
Kwon, OK [1 ]
机构：
[1] Seoul Natl Univ, Sch Elect Engn, Seoul 151742, South Korea
来源：
SICE 2001: PROCEEDINGS OF THE 40TH SICE ANNUAL CONFERENCE, INTERNATIONAL SESSION PAPERS | 2001年
关键词：
robust predictive control; feedback linearization; parameter uncertainties; single link flexible manipulator; input constraints;
D O I：
10.1109/SICE.2001.977872
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a linear matrix inequality(LMI)-based robust combined control method, which is combined model predictive control(MPC) with the feedback linearization(FL), is presented for constrained nonlinear systems with parameter uncertainty. This scheme is designed in the following 3 steps: Polytopic description of nonlinear system with a parameter uncertainty via FL, Mapping of actual input constraint by FL, Optimization of the constrained MPC problem based on LMI. To verify the performance and usefulness of the control method proposed in this paper, some simulations with application to a flexible single link manipulator are performed.
引用
收藏
页码：407 / 411
页数：5
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