H2 guaranteed cost fuzzy control for uncertain nonlinear systems via linear matrix inequalities

2004 ◽  
Vol 148 (3) ◽  
pp. 411-429 ◽  
Author(s):  
Huai-Ning Wu ◽  
Kai-Yuan Cai
Keyword(s):  
Nonlinear Systems ◽  
Fuzzy Control ◽  
Linear Matrix Inequalities ◽  
Linear Matrix ◽  
Uncertain Nonlinear Systems ◽  
Matrix Inequalities ◽  
Guaranteed Cost

scholarly journals Guaranteed Cost Nonfragile Robust Controller for Walking Simulation of Quadruped Search Robot on a Slope of VRML Model

2014 ◽  
Vol 6 ◽  
pp. 948795
Author(s):  
Peng Wang ◽  
Jixiang Li ◽  
Yuan Zhang
Keyword(s):  
Linear Matrix Inequalities ◽  
Linear Matrix ◽  
Modeling Language ◽  
Displacement Curve ◽  
Model Structure ◽  
Matrix Inequality ◽  
Matrix Inequalities ◽  
Robust Controller ◽  
3D Terrain ◽  
Guaranteed Cost

The problem of walking simulation for the quadruped search robot on a slope is described as an uncertainty system. In order to create the virtual ramp road environment, VRML modeling language is used to build a real environment, which is a 3D terrain scene in Matlab platform. According to the VRML model structure of the quadruped search robot, a guaranteed cost nonfragile robust controller is designed for ramp road walking simulation. The constraint inequation is transformed into a strict linear inequality by using two equalities; the controller and the guaranteed cost upper bound are given based on the solutions of the linear matrix inequality. And the approaches of designing the controller are given in terms of linear matrix inequalities. The walking stability of quadruped search robot is observed using the VRML model established with the change of gravity curve. Simulation results show that the gravity displacement curve of the robot is smooth. The results given by linear matrix inequalities indicate that the proposed guaranteed cost controller is correct and effective.

scholarly journals Synthesis of Adaptive Robust Controllers for a Class of Nonlinear Systems with Input Saturations

2017 ◽  
Vol 2017 ◽  
pp. 1-9 ◽  
Author(s):  
Kenta Oba ◽  
Hidetoshi Oya ◽  
Tomohiro Kubo ◽  
Tsuyoshi Matsuki
Keyword(s):  
Nonlinear System ◽  
Nonlinear Systems ◽  
Linear Matrix Inequalities ◽  
Design Problem ◽  
Sufficient Conditions ◽  
Matching Condition ◽  
Linear Matrix ◽  
Matrix Inequalities ◽  
Robust Controllers ◽  
Robust Controller

This paper deals with a design problem of an adaptive robust controller for a class of nonlinear systems with specified input saturations. For the nonlinear system under consideration, the nonlinearity means unknown perturbations and satisfies the matching condition. In this paper, we show that sufficient conditions for the existence of the proposed adaptive robust controller giving consideration to input saturations are given in terms of linear matrix inequalities (LMIs). Finally, simple illustrative examples are shown.

scholarly journals ℒ2Gain Performance for a Class of Lipschitz Uncertain Nonlinear Systems via Variable Gain Robust Output Feedback Controllers

2013 ◽  
Vol 2013 ◽  
pp. 1-7 ◽  
Author(s):  
Hidetoshi Oya ◽  
Kojiro Hagino
Keyword(s):  
Nonlinear Systems ◽  
Output Feedback ◽  
Sufficient Conditions ◽  
Feedback Controller ◽  
Linear Matrix ◽  
Uncertain Nonlinear Systems ◽  
Matrix Inequalities ◽  
Feedback Controllers ◽  
Variable Gain ◽  
Output Feedback Controller

We consider a design problem of a variable gain robust output feedback controller with guaranteedℒ2gain performance for a class of Lipschitz uncertain nonlinear systems. The proposed variable gain robust output feedback controller achieves not only robust stability but also a specifiedℒ2gain performance. In this paper, we show that sufficient conditions for the existence of the proposed variable gain robust output feedback controller with guaranteedℒ2gain performance are given in terms of linear matrix inequalities (LMIs). Finally, a simple numerical example is included.

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