TRACKING PERFORMANCE ACHIEVEMENT FOR CONTINUOUS-TIME DELAYED LINEAR SYSTEMS SUBJECT TO ACTUATOR SATURATION AND OUTPUT DISTURBANCES
Résumé
Controlling continuous-time input-delayed nonminimum-phase linear systems is addressed in the presence of actuator saturation
and output-disturbances. Focusing on output-reference tracking, the control design is dealt with in the pseudo-polynomials ring. A
quite appealing L2 -tracking performance is shown to be achievable in the presence of arbitrary inputs i.e. the output reference
and the output disturbance. The performance is formulated in terms of a well defined output-reference mismatch error (ORME),
depending on the inputs’ rate and their compatibility with the actuator saturation constraint.
Domaines
Automatique / Robotique
Origine : Fichiers produits par l'(les) auteur(s)