Observer-Based SPR Feedback Control System Design
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.
Avdelning/ar
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