Measurement-scheduled control for the RTAC problem

Author

Dussy, Stéphane ; Ghaoui, Laurent El

Author_Institution

Lab. de Math. Appl., Ecole Normale Superieure, Paris, France

Volume

6

fYear

1997

fDate

4-6 Jun 1997

Firstpage

3842

Abstract

The RTAC (rotational/translational actuator) nonlinear control design benchmark problem is addressed using a multiobjective control methodology based on linear matrix inequalities and robust control. The approach hinges on the search for quadratic Lyapunov functions ensuring various specifications (stability, L₂-gain, command input and output peak bounds) to hold for the closed-loop system. The resulting output-feedback controller is measurement-scheduled, its state-space matrices depend on the measurement vector in a nonlinear fashion. We evaluate the performance of our design with various simulations and predicted trade-off curves

Keywords

Lyapunov methods; closed loop systems; control system synthesis; feedback; matrix algebra; motion control; nonlinear control systems; robust control; state-space methods; RTAC nonlinear control; closed-loop system; linear matrix inequality; measurement-scheduled control; motion control; multiobjective control; output-feedback; quadratic Lyapunov functions; robust control; rotational/translational actuator control; stability; state-space matrix; Control design; Extraterrestrial measurements; Fasteners; Internet; Linear matrix inequalities; Nonlinear equations; Robust control; Stability; Symmetric matrices; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1997. Proceedings of the 1997

Conference_Location

Albuquerque, NM

ISSN

0743-1619

Print_ISBN

0-7803-3832-4

Type

conf

DOI

10.1109/ACC.1997.609575

Filename

609575