The problem of the robust and optimal control for uncertain quadratic systems is dealt with in this paper. Resorting to a guaranteed cost approach, this paper proposes a novel control design methodology which enables to find a state feedback controller guaranteeing for the closed-loop system: i) the local asymptotic stability of the zero equilibrium point; ii) the inclusion of a given polytopic region into the domain of attraction of the zero equilibrium point; iii) the satisfaction of a quadratic performance index. The control performance is guaranteed against parametric uncertainties which are assumed to be norm-bounded. This design procedure involves the solution of a Linear Matrix Inequalities (LMIs) optimization problem, which can be efficiently solved via off-the-shelf algorithms. An example, concerning an application of motion control for robotic arms, shows the effectiveness of the proposed methodology.

Identification and Modelling of the Friction-Induced Hysteresis in Pneumatic Actuators for Biomimetic Robots

MEROLA A;Cosentino C
2014-01-01

Abstract

The problem of the robust and optimal control for uncertain quadratic systems is dealt with in this paper. Resorting to a guaranteed cost approach, this paper proposes a novel control design methodology which enables to find a state feedback controller guaranteeing for the closed-loop system: i) the local asymptotic stability of the zero equilibrium point; ii) the inclusion of a given polytopic region into the domain of attraction of the zero equilibrium point; iii) the satisfaction of a quadratic performance index. The control performance is guaranteed against parametric uncertainties which are assumed to be norm-bounded. This design procedure involves the solution of a Linear Matrix Inequalities (LMIs) optimization problem, which can be efficiently solved via off-the-shelf algorithms. An example, concerning an application of motion control for robotic arms, shows the effectiveness of the proposed methodology.
2014
978-1-4799-5900-6
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/20.500.12317/21329
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