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

Author

Son, Won-Kee ; Choi, Jin-Young ; Kwon, Oh-Kyu

Author_Institution

Sch. of Electr. Eng., Seoul Nat. Univ., South Korea

fYear

2001

fDate

2001

Firstpage

407

Lastpage

411

Abstract

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

Keywords

control system synthesis; feedback; linearisation techniques; matrix algebra; model reference adaptive control systems; nonlinear control systems; optimal control; predictive control; robust control; uncertain systems; FL; LMI-based robust combined control method; constrained MPC problem optimization; constrained nonlinear systems; feedback linearizable system; feedback linearization; input constraint; input constraint mapping; linear matrix inequality based robust combined control method; model predictive control; parameter uncertainty; polytopic description; Constraint optimization; Design optimization; Linear feedback control systems; Linear matrix inequalities; Nonlinear control systems; Nonlinear systems; Predictive control; Predictive models; Robust control; Uncertain systems;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers

Conference_Location

Nagoya

Print_ISBN

0-7803-7306-5

Type

conf

DOI

10.1109/SICE.2001.977872

Filename

977872