Estratégia de Controle Não Linear com Estimativa de Domínio de Atração para uma Classe de Sistemas Sujeitos a Saturação nos Atuadores

Gabriela L. Reis; Rodrigo F. Araújo; Leonardo A. B. Tôrres; Reinaldo M. Palhares

doi:10.20906/SBAI-SBSE-2023/3774

Gabriela L. Reis Departamento de Educação e Tecnologia, Instituto Federal de Educação, Ciência e Tecnologia do Sudeste de Minas Gerais, MG
Rodrigo F. Araújo Departamento de Engenharia de Controle e Automação, Universidade do Estado do Amazonas, AM
Leonardo A. B. Tôrres Departamento de Engenharia Eletrônica, Universidade Federal de Minas Gerais, MG
Reinaldo M. Palhares Departamento de Engenharia Eletrônica, Universidade Federal de Minas Gerais, MG

DOI: https://doi.org/10.20906/SBAI-SBSE-2023/3774

Keywords: Differential-Algebraic Representation, Nonlinear Control, Input Saturation, Regional Stabilization, Lyapunov Theory

Abstract

This paper presents a new methodology of regional stabilization for a class of uncertain nonlinear systems with input saturation by state feedback. In this approach, nonlinear systems are described by Differential-Algebraic Representations (DAR) and regional stability is guaranteed through a set of conditions in terms of Linear Matrix Inequalities (LMIs) to obtain the largest estimated ellipsoidal Domain of Attraction (DoA) within a given polytopic region in state space. The proposed approach incorporates information about the system’s nonlinearities in the control law and uses new auxiliary decision variables in order to achieve less conservative results. Numerical examples illustrate the effectiveness of the proposed methodology, showing favorable comparisons with approaches in a similar context.