Title :
Robust Time-optimal Algorithm of Constrained Systems with Parametric Uncertainties
Author :
Juan, Zhang ; Jie, Chen ; Jinghua, Lu
Author_Institution :
Dept. of Autom. Control, Beijing Inst. of Technol., Beijing
Abstract :
Algorithms for stabilizing the constrained systems are analyzed and designed based on model of the systems. Uncertainties of the model parameters will lead to the systems´ instability. The problem caused by the parametric uncertainties is analyzed with an example in this paper, and then the robust algorithm is proposed for solving such problem. With the robust algorithm proposed in this paper, the bounded parametric uncertainties on input matrix are transferred to external disturbance, and then the problems caused by the bounded parametric uncertainty on states matrix are solved with new formula for computing the level sets. Result of the simulation shows that by such algorithm, the system are stabilized and all the states can be steered to a small set and kept in it.
Keywords :
control system analysis; control system synthesis; matrix algebra; robust control; time optimal control; uncertain systems; constrained systems; input matrix; parametric uncertainties; robust time-optimal algorithm; states matrix; Algorithm design and analysis; Computational modeling; Control systems; Information analysis; Information science; Level set; Nonlinear control systems; Robust control; Robustness; Uncertainty; Constrained system; parametric uncertainties; robust control;
Conference_Titel :
Control, Automation, Robotics and Vision, 2006. ICARCV '06. 9th International Conference on
Conference_Location :
Singapore
Print_ISBN :
1-4244-0341-3
Electronic_ISBN :
1-4214-042-1
DOI :
10.1109/ICARCV.2006.345103
