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Adaptive stabilization by delay with biased measurements

Denis Efimov 1 Stanislav Aranovskiy 2 Emilia Fridman 3 Dimitry Sokolov 4 Jian Wang 5 Alexey Bobtsov 6
1 VALSE - Finite-time control and estimation for distributed systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
4 ALICE - Geometry and Lighting
Inria Nancy - Grand Est, LORIA - ALGO - Department of Algorithms, Computation, Image and Geometry
Abstract : The problem of output robust adaptive stabilization for a class of Lipschitz nonlinear systems is studied under assumption that the measurements are available with a constant bias. The state reconstruction is avoided by using delayed values of the output in the feedback and adaptation laws. The control and adaptation gains can be selected as a solution of the proposed linear matrix inequalities (LMIs). The efficiency of the presented approach is demonstrated on a nonlinear pendulum through simulations.
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https://hal.inria.fr/hal-02634582
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Submitted on : Wednesday, May 27, 2020 - 3:46:29 PM
Last modification on : Monday, July 27, 2020 - 10:54:25 AM

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Denis Efimov, Stanislav Aranovskiy, Emilia Fridman, Dimitry Sokolov, Jian Wang, et al.. Adaptive stabilization by delay with biased measurements. IFAC 2020 - 21st IFAC World Congress, Jul 2020, Berlin, Germany. ⟨hal-02634582⟩

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