A novel robust control technique for discrete time nonlinear systems with random actuator failures is proposed in this paper. This controller is optimally robust for actuator failures in achieving general performance criteria ranging from quadratic optimality with inherent asymptotic stability property to various forms of quadratic dissipative type of disturbance reduction. By solving a state dependent linear matrix inequality at each time instant, the control solution is found which satisfies these general performance criteria. The effectiveness of the proposed technique is demonstrated by simulations of the control of the inverted pendulum on a cart.
- Dynamic Systems and Control Division
Robust State Dependent Control of Discrete Time Nonlinear Systems With Random Actuator Failures
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Wang, X, Yaz, EE, Long, J, Schneider, SC, & Yaz, YI. "Robust State Dependent Control of Discrete Time Nonlinear Systems With Random Actuator Failures." Proceedings of the ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. Volume 1: Adaptive Control; Advanced Vehicle Propulsion Systems; Aerospace Systems; Autonomous Systems; Battery Modeling; Biochemical Systems; Control Over Networks; Control Systems Design; Cooperative and Decentralized Control; Dynamic System Modeling; Dynamical Modeling and Diagnostics in Biomedical Systems; Dynamics and Control in Medicine and Biology; Estimation and Fault Detection; Estimation and Fault Detection for Vehicle Applications; Fluid Power Systems; Human Assistive Systems and Wearable Robots; Human-in-the-Loop Systems; Intelligent Transportation Systems; Learning Control. Fort Lauderdale, Florida, USA. October 17–19, 2012. pp. 625-632. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8600
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