Homogeneous Control Design Using Invariant Ellipsoid Method

• 成果类型: Article
• 署名作者: Wang, Siyuan; Duan, Haibin; Zheng, Gang; Ping, Xubin; Boutat, Driss; Polyakov, Andrey
• 署名单位: Beihang University; Beihang University; Xidian University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2024.3384844
• 发表日期: 2024
• 页码: 6458-6465
• 关键词: Ellipsoids; Symmetric matrices; Perturbation methods; control design; vectors; uncertainty; Tuning; homogeneity; invariant set; linear matrix inequality (LMI)

摘要

The invariant ellipsoid method is aimed at minimization of the smallest invariant and attractive set of a control system operating under bounded external disturbances and parametric uncertainties. This article extends this technique to a class of the so-called generalized homogeneous system. The generalized homogeneous optimal (in the sense of invariant ellipsoid) controller allows further improvement of the control system providing a faster convergence and smaller overshoots. Theoretical results are supported by numerical simulations and experiments.