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Article Dans Une Revue Automatica Année : 2019

Continuous and discrete-time stability of a robust set-valued nested controller

Résumé

We propose a set-valued controller with a signum multifunction nested inside another one. We prove that the controller is well posed and achieves robust ultimate boundedness in the presence of mismatched, non-vanishing disturbances. Even more, the selected output can be made arbitrarily small. Also, by applying an implicit/explicit Euler scheme similar to the one introduced by Acary and Brogliato (2010) for matched disturbances, we derive a selection strategy for the discrete-time implementation of the set-valued control law. Simulations demonstrate that the discrete scheme diminishes chattering substantially, compared with a fully explicit method.
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Dates et versions

hal-01944920 , version 1 (05-12-2018)
hal-01944920 , version 2 (26-06-2019)

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Felix Miranda-Villatoro, Fernando Castaños, Bernard Brogliato. Continuous and discrete-time stability of a robust set-valued nested controller. Automatica, 2019, 107, pp.406-417. ⟨10.1016/j.automatica.2019.06.003⟩. ⟨hal-01944920v2⟩
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