Robust Output-Regulation for Constrained and Uncertain Linear Systems: An Attractive Ellipsoid Approach

Resumen: This paper aims to design a robust output-based control to regulate the output for a class of uncertain linear systems with input saturation and state constraints, in the presence of external disturbances. The proposed robust control approach is composed of a homogeneous observer, that guarantees nite-time convergence of the state estimation error to a neighborhood of the origin, and a linear control law, that is designed based on the attractive ellipsoid method and a barrier Lyapunov function approach, taking into account the input and state constraints. The synthesis of the robust-output-based control is given in terms of linear matrix inequalities. Simulation results show the workability of the proposed robust control approach.

¿Cómo citar?

Ariana Gutierrez, Manuel Mera & Hector Rios. Robust Output-Regulation for Constrained and Uncertain Linear Systems: An Attractive Ellipsoid Approach. Memorias del Congreso Nacional de Control Automático, pp. 243-248, 2021.

Palabras clave

Input Saturation, State Constraints, Uncertain Linear System, Robust Control

• Boyd, S. and Vandenberghe (2009). Convex optimization. Los Angeles: Cambridge UniversityPress.
• Cao, N. and Lynch, A.F. (2015). Inner–outer loop control for quadrotor uavs with input and state constraints. IEEE Transactions on Control Systems Technology, 24(5), 1797–1804.
• Edalati, L., Sedigh, A.K., Shooredeli, M.A., and Moarefianpour, A. (2018). Asymptotic tracking control of strict-feedback non-linear systems with output constraints in the presence of input saturation. IET Control Theory & Applications, 12(6), 778–785.
• Gutiérrez, A., Ríos, H., and Mera, M. (2020). Robust output-regulation for uncertain linear systems with input saturation. IET Control Theory & Applications, 14(16), 2372–2384.
• Huang, Y. and Jia, Y. (2019). Adaptive finite-time 6-dof tracking control for spacecraft fly around with input saturation and state constraints. IEEE Transactions on Aerospace and Electronic Systems, 55(6), 3259–3272.
• Llorente-Vidrio, D., Mera, M., Salgado, I., and Chairez, I. (2020). Robust control for state constrained systems based on composite barrier lyapunov functions. International Journal of Robust and Nonlinear Control, 30(17), 7238–7254.
• Mera, M., Salgado, I., and Chairez, I. (2016). Robust control for state constrained uncertain systems: Attractive ellipsoid method approach. IFAC-PapersOnLine, 49(18), 19–23.
• Mera, M., Salgado, I., and Chairez, I. (2020). Robust observer-based controller design for state constrained uncertain systems: attractive ellipsoid method. International Journal of Control, 93(6), 1397– 1407.
• Min, H., Xu, S., and Zhang, Z. (2020). Adaptive finite-time stabilization of stochastic nonlinear systems subject to full-state constraints and input saturation. IEEE Transactions on Automatic Control.
• Polyakov, A., Efimov, D., and Perruquetti, W. (2015). Finite-time and fixed-time stabilization: Implicit lyapunov function approach. Automatica, 51, 332–340.
• Tarbouriech, S., Garcia, G., Gomes, J., and Queinnec, I. (2011). Stability and stabilization of linear systems with saturating actuators. Springer Science & Business Media.
• Tee, K.P. and Ge, S.S. (2011). Control of nonlinear systems with partial state constraints using a barrier lyapunov function. International Journal of Control, 84(12), 2008–2023.
• Wu, Y. and Xie, X.J. (2019). Stabilisation of high-order nonlinear systems with full-state constraints and input saturation. International Journal of Control, 1–11.
• Yu, J., Zhao, L., Yu, H., and Lin, C. (2019). Barrier lyapunov functions-based command filtered output feedback control for full-state constrained nonlinear systems. Automatica, 105, 71–79.
• Zhang, Z., Duan, G., and Hu, Y. (2018). Robust adaptive control for a class of semi-strict feedback systems with state and input constraints. International Journal of Robust and Nonlinear Control, 28(9), 3189–3211.