Robust output feedback stabilization of uncertain time-varying state-delayed systems with saturating actuators |
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Authors: | Ammar Haurani Hannah H Michalska Benoit Boulet |
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Affiliation: | McGill Center for Intelligent Machines , McGill University , 3480 University Street, Room 410, Montreal, Quebec H3A 2A7, Canada |
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Abstract: | The robust output feedback stabilization problem for state-delayed systems with time-varying delays and saturating actuators is addressed here. The systems considered are continuous-time, with parametric uncertainties entering all the matrices in the system representation. A saturating control law is designed and a region of initial conditions is specified within which local asymptotic stability of the closed-loop system is ensured. The least conservative approach that employs the Lyapunov–Krasovskii functional is adopted to ensure stabilization. The designed controller is dependent on the time-delay and its rate of change. The controller is constructed in terms of the solution to a set of matrix inequalities. |
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