Output Feedback Constrained Regulation of Linear Systems via Controlled-Invariant Sets

Almeida, Tiago A.; Dórea, Carlos Eduardo Trabuco

doi:10.1109/tac.2020.3020100

Cited by 5 publications

(1 citation statement)

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“…Concerning the control design for constrained systems, that is, systems with input saturation and state constraints, different techniques have been used to solve this problem. For instance, in Reference 16 an output feedback control is proposed for linear systems with external disturbances. The proposed controller ensures that the system constraints are not transgressed in regulation tasks, whereas the regulation error converges to a neighborhood around the origin.…”

Section: Introductionmentioning

confidence: 99%

Integral sliding‐mode‐based robust output‐regulation for constrained and uncertain linear systems

Gutierrez

Mera

Ríos

2022

Intl J Robust & Nonlinear

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This article proposes a solution to the output regulation problem for uncertain linear systems with input saturation, state constraints, and external disturbances. The proposed robust control is composed of a linear and a nonlinear part.Each part of the control can be designed independently due to the use of an integral sliding-mode control approach. The linear control, whose design is based on the barrier Lyapunov function and the attractive ellipsoid method, considers the input saturation, the state constraints, and the parameter uncertainties. The nonlinear part is based on an integral sliding-mode control approach and it can compensate the effect of some matched disturbances. Also, a safe set where the system trajectories do not transgress the state constraints and input saturation, is provided. The proposed scheme guarantees asymptotic convergence to zero of the output regulation error coping with the system constraints and disturbances. A constructive and simple method, based on linear matrix inequalities, is proposed to compute the controller gains. Some simulation results illustrate the feasibility of the proposed scheme.

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Section: Introductionmentioning

confidence: 99%