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Observer-Based SPR Feedback Control System Design

In English

Författare

Summary, in English

This paper presents theory for stability analysis and design for a class of observer-based feedback control systems. Relaxation of the controllability and observability conditions imposed in the Yakubovich-Kalman-Popov (YKP) lemma can be made for a class of nonlinear systems described by a linear time-invariant system (LTI) with a feedback-connected cone-bounded nonlinear element. It is shown how a circle-criterion approach can be used to design an observer-based state feedback control which yields a closed-loop system with specified robustness characteristics. The approach is relevant for design with preservation of stability when a cone-bounded nonlinearity is introduced in the feedback loop. Important applications are to be found in robotics (force control) and nonlinear control in hybrid control.

Publiceringsår

2002

Språk

Engelska

Sidor

1601-1606

Publikation/Tidskrift/Serie

Nonlinear Control Systems 2001

Dokumenttyp

Konferensbidrag

Förlag

Elsevier

Ämne

  • Control Engineering

Nyckelord

  • strict positive realness (SPR)
  • observers
  • stability
  • robustness

Status

Published

Projekt

  • LU Robotics Laboratory