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This paper describes the dynamical uncertain systems by the Takagi-Sugeno (T-S) fuzzy dynamic model, and proposes a LMI design method of the robust fuzzy sliding mode observer by applying the robust sliding-mode observer design principle based on the singular value decomposition. Firstly, the Lyapunov function is used as the critical condition which ensures the consistent convergence of the designed...
In this paper, a decentralized sliding mode control approach is applied to the control tasks of vehicles in platoons. Using the well known bicycle model, a robust nonlinear observer is introduced to facilitate the controller design which needs full state measurements. The vehicles in platoons can be treated as an interconnected system with a special form. Observer gain and controller gain are properly...
This paper deals with the design of reduced order observers for a class of nonlinear descriptor systems. The order of these observer is qlesn , where n is the dimension of the semi state. A new method is presented, the conditions for the existence of these observers are given and sufficient conditions for their stability are derived using linear matrix inequalities (LMIs) formulation. A numerical...
This paper deals with the problems of robust admissibility and state feedback admissibilization of uncertain discrete descriptor systems. We propose a new sufficient condition, which is necessary in terms of a strict linear matrix inequality (LMI) for a nominal discrete descriptor system to be admissible (stable, regular and impulse free). Based on this, the state feedback admissibility problem is...
The paper deals with robust predictive control based on a LMI approach. With respect to the well established case of linear models, with a global polytopic uncertainty, in the present approach the conservativeness reduction is assured by allowing different local descriptions of the uncertainty. The prediction model can thus be interpreted as a multi-model description of the plant to be controlled...
This paper deals with discrete-time systems and considers the problem of computing an upper bound to the dwell time of switched systems ensuring a pre-specified root mean square gain (RMS). As a natural consequence of treating general systems of this particular class in terms of the order and the number of subsystems, only sufficient conditions are worked out. However, as positive features, they are...
A new approach for the design of robust static output feedback controller for a class of discrete-time Lipschitz nonlinear systems with time-varying uncertainties is proposed based on linear matrix inequalities. The controller has also a guaranteed disturbance attenuation level (Hinfin performance). Thanks to the linearity of the proposed LMIs in both the admissible Lipschitz constant of the system...
The problem of designing robust filter with guaranteed induced lscrinfin norm for the estimation of the state-vector of finite dimensional discrete-time linear systems is considered. The design process applies a lemma which was recently derived by the authors of this paper, characterizing the induced lscrinfin norm by Linear Matrix Inequalities. The results are applied to a tracking problem with uncertainty...
The design problem of mixed L2, H2 gain scheduling nonlinear state feedback controller for Linear Parameter Varying (LPV) systems subjected to actuator saturations and L2 bounded disturbances is considered. First, a new formulation of H2 controllers has been presented based on the homogeneous polynomial parameter dependent (HPPD) representation. Then a systematic procedure to generate a sequence of...
In this note, we investigate the problem of state observation and input recovery of a particular class of nonlinear systems based on multi-models with unknown input. For this particular system and a corresponding observer structure, an original set of sufficient LMI conditions are derived from the Lyapunov theory, allowing to compute the gains of the observers and assuring asymptotic convergence....
This paper deals with the observer design for nonlinear time delay systems. The approach is to represent the observer error system as the feedback interconnection of a linear system and a time varying nonlinearity. The proposed result developed for designing the observer is in term of linear matrix inequalities (LMI) that guarantees the global uniform asymptotic stability of the error dynamic system...
The problem of stabilizing positive switching discrete-time systems by output feedback is studied and solved in this paper. First, necessary and sufficient conditions for the existence of such controllers are presented for non-switching positive systems, which are then extended to positive switching systems. The proposed conditions, formulated as LMIs, can be directly used for controller synthesis...
This paper describes a solution to the problem of landing a helicopter autonomously. The methodology used poses the problem as a discrete time path following control problem where a conveniently defined error state space model of the helicopter is modified to include the aerodynamic effects of flying within close proximity to the ground. An affine parameter-dependent model representation is adopted...
This paper presents a benchmark study on fault diagnosis of electrohydraulic servoactuators (EHSA). EHSA are considered to be affected by faults and disturbances. The linear mathematical model of the EHSA is given. Two different design methods for fault diagnosis are studied. The first method considers the strategy of parity space design, and observer-based implementation, in which a perfect disturbance...
This paper addresses fault detection and isolation (FDI) problem using a sliding mode fuzzy observer on the basis of a uncertain Takagi-Sugeno (T-S) fuzzy model. First, a robust fuzzy observer with respect to the uncertainties is designed. The convergence of the fuzzy observer is performed by the search of suitable Lyapunov matrices. It is shown how to synthesis observers using a set of linear matrix...
In this paper, Hinfin fuzzy controller design based on fuzzy observer for active vehicle suspension is studied. After giving the nonlinear model of the active suspension, its representation by a T-S uncertain fuzzy model is discussed. The control strategy uses the Hinfin controller based on observer to estimate state with reject road disturbance. The closed loop stability conditions of the vehicle...
In this paper, a new active FTC strategy is proposed. First, it is developed in the context of linear systems and then it is extended to Takagi-Sugeno fuzzy systems. The key contribution of the proposed approach is an integrated FTC design procedure of the fault identification and fault-tolerant control schemes. Fault identification is based on the use of an observer. While, the FTC controller is...
This paper deals with the problem of state estimation of nonlinear uncertain systems described by uncertain multiple model form with unmeasurable decision variables. We propose two methods to attenuate the effect of modeling uncertainties and measurement noise on the state estimation. The first method is based, under some assumptions, on the second method of Lyapunov and L2 approach. The second method...
In this paper, a dynamical robust nonlinear Hinfin filtering method is proposed for a class of Lipschitz descriptor systems in which the nonlinearities appear in both the state and measured output equations. The system is assumed to have norm-bounded uncertainties in the realization matrices as well as nonlinear uncertainties. We synthesis the Hinfin observer through semidefinite programming and strict...
This paper addresses the robust fault estimation problem for a class of linear parameter-varying (LPV) systems with time delays. It is assumed that the state-space data depend affinely on the time-varying parameters that can be measured in real-time and the time-delay is unknown but with bounded variation rates. As an alternative to robust residual generation in FDI, this paper is concerned with the...
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