descriptionPublicationkeyboard_double_arrow_right Article , Conference object 01 Jul 2019Publisher:IEEEJournal:2019 International Conference on Control, Automation and Diagnosis (ICCAD)

Authors: Yang, Ruicong; Rotondo, Damiano; Puig Cayuela, Vicenç;

doi: 10.1109/iccad46983.2019.9037872

handle: 2117/180835 , 2117/187444

Observer Design for Takagi-Sugeno Lipschitz Systems Affected by Disturbances using Quadratic Boundedness

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Abstract

In this paper, a proportional observer design using quadratic boundedness is proposed in order to estimate the state of a system described by a Takagi-Sugeno model with a Lipschitz nonlinearity term, and affected by unknown disturbances. The conditions for ensuring that the error between the real and the estimated state converge within an ellipsoidal region about zero, are provided in the form of a linear matrix inequality (LMI) formulation. Then, the simulation results of this approach applied to a four-wheeled omni-directional mobile robot will be shown

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Keywords

:Informàtica::Automàtica i control [Àrees temàtiques de la UPC], Àrees temàtiques de la UPC::Informàtica::Robòtica, Quadratic boundedness, Proportional Observer, Quadratic Boundedness, Desigualtats matricials, Robots mòbils, Mobile Robot, Àrees temàtiques de la UPC::Informàtica::Automàtica i control, Takagi-Sugeno, Mobile robot, Mobile robots, Matrix inequalities, Proportional observer, :Informàtica::Robòtica [Àrees temàtiques de la UPC]

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