Predictive ADRC Control Using LMI

LMI based design of constrained fuzzy predictive control

Predictive control of nonlinear systems subject to output and input constraints is considered. A fuzzy model is used to predict the future behavior. Two new ideas are proposed here. First, an added constraint on the applied control action is used to ensure the decrease of a quadratic Lyapunov function, and so guarantee Lyapunov exponential stability of the closed-loop system. Second, the feasib...

Fault-tolerant Control Using Lmi Design

Gain Scheduling Control of Infante Auv Using Lmi

The paper addresses the problem of Autonomous Underwater Vehicles which is an under actuated system that traverses autonomously without any external interference and findsextensive applications in defence organizations for underwater mine detection and region surveillance. The system is modelled using INFANTE AUV hydrodynamic parameters that are controlled by path following control using MATLAB...

A Linear Matrix Inequality (LMI) Approach to Robust Model Predictive Control (RMPC) Design in Nonlinear Uncertain Systems Subjected to Control Input Constraint

In this paper, a robust model predictive control (MPC) algorithm is addressed for nonlinear uncertain systems in presence of the control input constraint. For achieving this goal, firstly, the additive and polytopic uncertainties are formulated in the nonlinear uncertain systems. Then, the control policy can be demonstrated as a state feedback control law in order to minimize a given cost funct...

Reliable Control for Parameterized Interconnected Systems using LMI techniques

This work presents the design of a reliable decentralized state feedback control for a class of uncertain interconnected polytopic continous systems. A model of failures in actuators is adopted which considers outages or partial degradation in independent actuators. The control is developed using the concept of guaranteed cost control and a new LMI characterization using polytopic Lyapunov func...