Matrix-Scheduling of QSR-Dissipative Systems

• 成果类型: Article
• 署名作者: Moalemi, Sepehr; Forbes, James Richard
• 署名单位: McGill University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2025.3542329
• 发表日期: 2025
• 页码: 5286-5300
• 关键词: Transmission line matrix methods; Symmetric matrices; Stability criteria; indexes; training; Nonlinear systems; dynamical systems; Data mining; Artificial intelligence; vectors; Gain-scheduling; nonlinear control; quadratic supply rate (QSR)-dissipativity

摘要

This article considers gain-scheduling of quadratic supply rate (QSR)-dissipative subsystems using scheduling matrices. The corresponding QSR-dissipative properties of the overall matrix-gain-scheduled system, which depends on the QSR properties of the subsystems scheduled, are explicitly derived. The use of scheduling matrices is a generalization of the scalar scheduling signals used in the literature, and allows for greater design freedom when scheduling systems, such as in the case of gain-scheduled control. Furthermore, this work extends the existing gain-scheduling results to a broader class of QSR-dissipative systems. The matrix-scheduling of important special cases, such as passive, input strictly passive, output strictly passive, finite L-2 gain, very strictly passive, and conic systems are presented. The proposed gain-scheduling architecture is used in the context of controlling a planar three-link robot subject to model uncertainty. A novel control synthesis technique is used to design QSR-dissipative subcontrollers that are gain-scheduled using scheduling matrices. Numerical simulation results highlight the greater design freedom of scheduling matrices, leading to improved performance.