Design of robust sliding mode observer for a class of linear system with uncertain time delay: A linear matrix inequality method

2015 ◽  
pp. 227-231
Author(s):  
F Xie ◽  
L Chen ◽  
A Zhou
Keyword(s):  
Time Delay ◽  
Linear System ◽  
Linear Matrix Inequality ◽  
Sliding Mode ◽  
Sliding Mode Observer ◽  
Linear Matrix ◽  
Matrix Inequality ◽  
Uncertain Time

scholarly journals Robust Observer Design for Switched Positive Linear System with Uncertainties

2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
Yanke Zhong ◽  
Tefang Chen
Keyword(s):  
Linear System ◽  
Linear Matrix Inequality ◽  
Dwell Time ◽  
Sufficient Conditions ◽  
Average Dwell Time ◽  
Observer Design ◽  
Linear Matrix ◽  
Matrix Inequality ◽  
Robust Observer ◽  
Slack Variable

This paper is concerned with the design of a robust observer for the switched positive linear system with uncertainties. Sufficient conditions of building a robust observer are established by using the multiple copositive Lyapunov-krasovskii function and the average dwell time approach. By introducing an auxiliary slack variable, these sufficient conditions are transformed into LMI (linear matrix inequality). A numerical example is given to illustrate the validities of obtained results.

A linear matrix inequality–based proportional-derivative sliding mode control tuning method in robotic systems subjected to external disturbance

2020 ◽  
Vol 26 (23-24) ◽  
pp. 2297-2315
Author(s):  
Valiollah Ghaffari
Keyword(s):  
Sliding Mode Control ◽  
Linear Matrix Inequality ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
External Disturbance ◽  
Inequality Constraints ◽  
Linear Matrix ◽  
Matrix Inequality ◽  
Tuning Method ◽  
Mode Control

The proportional-derivative sliding-mode control will be designed and tuned in the trajectory tracking of a robot manipulator which operates on uncertain dynamic environments. For achieving these goals, first, a linear matrix inequality–based framework is suggested to design a robust proportional-derivative sliding-mode control in the presence of external disturbances. Next, the parameters of the proportional-derivative sliding-mode control law will be tuned via another minimization problem subjected to some linear matrix inequality constraints. Thus, the controller parameters can be automatically updated via the solution of the optimization problem. The results are successfully used in the robot manipulator with considering two reference paths and some different loads. The simulation results show the effectiveness of the proposed method in comparison with the same technique.

Distributed sliding mode leader-following consensus controller for uncertain time-delay linear parameter-varying multiagent systems

2020 ◽  
pp. 107754632095652
Author(s):  
Mohammad Amin Moradi ◽  
Behrouz Safarinejadian ◽  
Mohammad Hossein Shafiei
Keyword(s):  
Time Delay ◽  
Multiagent Systems ◽  
Sliding Mode ◽  
Linear Matrix ◽  
Linear Parameter ◽  
Linear Parameter Varying ◽  
Leader Following ◽  
Parameter Varying ◽  
Uncertain Time ◽  
Delay Dependent

This study addresses the consensus problem of leader-following multiagent systems, whose dynamics are governed by time-delay linear parameter-varying models with norm-bounded uncertainties. At first, a delay-dependent sufficient condition concerned with the existence of a parameter-varying sliding surface is given in terms of linear matrix inequalities. Then, a robust consensus among the leader and followers is achieved via the distributed linear parameter-varying sliding mode control protocol. Conditions for closed-loop stability are also presented in the form of some theorems. Simulation results demonstrate the effectiveness of the proposed approach.

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