Title :
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
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;
Conference_Titel :
SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers
Conference_Location :
Nagoya
Print_ISBN :
0-7803-7306-5
DOI :
10.1109/SICE.2001.977872
