Design of stabilizing controller for uncertain nonlinear systems under input saturation

Quoc Viet Dang (1) , Laurent Vermeiren (1) , Antoine Dequidt (1) , Michel Dambrine (1)

1 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201

The paper aim is to propose a new framework for the design of robust stabilizing controllers for uncertain nonlinear systems under input saturation. A new method for modeling the saturation effect is presented that allows taking its nonlinearity effects into the problem of controller design. The proposed controller is a modified parallel distributed compensation state feedback. Based on Lyapunov theory, sufficient conditions for assuring the system global stability are formulated in terms of linear matrix inequalities (LMI). The problem of maximizing the domain of attraction is expressed as an optimization problem. A numerical example is presented to illustrate the effectiveness of the proposed method.

Mots clés: "Nonlinear systems"; "Optimization"; "Symmetric matrices"; "Linear matrix inequalities"; "Numerical models"; "Stability analysis"; "Takagi-Sugeno model"

Domaines: Automatique / Robotique

Quoc Viet Dang, Laurent Vermeiren, Antoine Dequidt, Michel Dambrine. Design of stabilizing controller for uncertain nonlinear systems under input saturation. 2015 American Control Conference (ACC), Jul 2015, Chicago, United States. pp.5974-5979, ⟨10.1109/ACC.2015.7172277⟩. ⟨hal-03416219⟩