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Communication Dans Un Congrès Année : 2015

A piecewise-polynomial approach to the stability analysis of non-linear switching controllers in presence of sliding modes with application to pneumatic systems

Résumé

This paper concerns the stability analysis of non-linear, switching control laws for pneumatic actuators. A first approach to the problem has been proposed by the authors in [1], under the hypothesis of a simplified model of friction. The approach is based on casting the closed-loop system into a piecewise-affine form. However, if a more realistic friction model is introduced, the method in [1] proves to be too conservative, and unfit to deal with the sliding modes that can occur with this new model. This paper proposes a new method for proving the stability on the system by introducing a less conservative class of Lyapunov function, namely piecewise-polynomial ones. At the end of the paper, we show how such a method can be successfully applied to our experimental setup.
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Dates et versions

hal-01246952 , version 1 (30-04-2019)

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Omar Ameur, Paolo Massioni, Gérard Scorletti, Xavier Brun, Mohamed Smaoui. A piecewise-polynomial approach to the stability analysis of non-linear switching controllers in presence of sliding modes with application to pneumatic systems. 54th IEEE CDC, Dec 2015, Osaka, Japan. pp.4872-4878, ⟨10.1109/CDC.2015.7402980⟩. ⟨hal-01246952⟩
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