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Robust Time-optimal Algorithm of Constrained Systems with Parametric Uncertainties

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3 Author(s)
Zhang Juan ; Department of Automatic Control, School of Information Science and Technology, Beijing Institute of Technology, Beijing 100081, China. Email: ; Chen Jie ; Lu Jinghua

Algorithms for stabilizing the constrained systems are analyzed and designed based on model of the systems. Uncertainties of the model parameters will lead to the systems' instability. The problem caused by the parametric uncertainties is analyzed with an example in this paper, and then the robust algorithm is proposed for solving such problem. With the robust algorithm proposed in this paper, the bounded parametric uncertainties on input matrix are transferred to external disturbance, and then the problems caused by the bounded parametric uncertainty on states matrix are solved with new formula for computing the level sets. Result of the simulation shows that by such algorithm, the system are stabilized and all the states can be steered to a small set and kept in it.

Published in:

2006 9th International Conference on Control, Automation, Robotics and Vision

Date of Conference:

5-8 Dec. 2006