Gain-Scheduled Control of Linear Differential Inclusions Subject to Actuator Saturation

• Published in: IEEE transactions on industrial electronics (1982) Vol. 66; no. 10; pp. 8051 - 8059
• Main Authors: Li, Pengyuan, Wu, Yuhu, Sun, Xi-Ming, Lang, Zi-Qiang
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.10.2019; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Active suspension system; actuator saturation; Actuators; Attenuation; Closed loop systems; Control stability; Control theory; convex hull Lyapunov function (CHLF); Convexity; Dynamic stability; Ellipsoids; gain-scheduled controller; Hulls; Inclusions; input-to-state stability (ISS); Job shop scheduling; Liapunov functions; linear differential inclusion (LDI); Lyapunov methods; Nonlinear control; Robust stabilization; Saturation; Stability criteria; Suspension systems
• ISSN: 0278-0046; 1557-9948
• DOI: 10.1109/TIE.2018.2880702

This paper focuses on the problem of robust stabilization of linear differential inclusions subject to actuator saturation. A continuous set of nonlinear controllers is constructed by a parameter-dependent convex hull Lyapunov function to avoid actuator saturation for known worst-case disturbances. The controller, which can achieve the best closed-loop performance while complies the saturation bound, is selected at each time, based on the closed-loop states. Thanks to the application of the continuous dynamic gain-scheduled control law, the internal stability and guaranteed disturbance attenuation can be obtained simultaneously. A quarter-car active suspension system is studied to demonstrate the benefit of the proposed method.