Simple adaptive controllers are derived by applying a new method for achieving robust strictly positive real plants via state-feedback. A constant statefeedback gain is derived that guarantees the strictly positive realness of the closed-loop in presence of polytopic type parameter uncertainties in the model that describes the plant. This is achieved by assigning different Lyapunov functions to...

This paper addresses the robust stability for a class of linear discrete-time stochastic systems with convex polytopic uncertainties. The system to be considered is subject to both interval time-varying delays and convex polytopic type uncertainties. Based on the augmented parameter-dependent Lyapunov-Krasovskii functional, new delay-dependent conditions for the robust stability are established...

Abstract: This paper presents a sliding mode output feedback control design methodology based on LMI’s under a polytopic perspective for a class of uncertain dynamical systems. Both matched and mismatched uncertainties are considered. The existence and reachability problems are formulated through a polytopic description and solved using LMI’s. The proposed controller is static in nature. The re...

This paper presents a novel design of Linear Parameter Varying (LPV) controller based-on the polytopic approach, for path-following system an automated vehicle. The implementation proposed steering is reduction initial 3D (3 Dimensional) polytope that, due to conservatism specific approach suffers from over-bounding. algorithm aims at tightening by reducing vertices and volume that includes par...

Control systems achieve the desired performance with model-based controller if dynamical model of actual plant is given sufficient accuracy. However, there exists a difference between and its dynamics, does not work well intended performance. A error compensator (MEC) proposed for overcoming in our previous study. Attaching to plant, output trajectory made close that model. Then, from controlle...

Obstacle avoidance for multi-robot navigation with polytopic shapes is challenging. Existing works simplify the system dynamics or consider it as a convex non-convex optimization problem positive distance constraints between robots, which limits real-time performance and scalability. Additionally, generating collision-free behavior polytopic-shaped robots harder due to implicit non-differentiab...