This article proposes a solution to the output regulation problem for uncertain linear systems with input saturation, state constraints, and external disturbances. The proposed robust control is composed of a linear and a nonlinear part. Each part of the control can be designed independently due to the use of an integral sliding-mode control approach. The linear control, whose design is based on the barrier Lyapunov function and the attractive ellipsoid method, considers the input saturation, the state constraints, and the parameter uncertainties. The nonlinear part is based on an integral sliding-mode control approach and it can compensate the effect of some matched disturbances. Also, a safe set where the system trajectories do not transgress the state constraints and input saturation, is provided. The proposed scheme guarantees asymptotic convergence to zero of the output regulation error coping with the system constraints and disturbances. A constructive and simple method, based on linear matrix inequalities, is proposed to compute the controller gains. Some simulation results illustrate the feasibility of the proposed scheme.
|Number of pages||14|
|Journal||International Journal of Robust and Nonlinear Control|
|State||Published - Feb 2023|
Bibliographical noteFunding Information:
The authors gratefully acknowledges the financial support from TecNM projects, from SEP‐CONACYT‐ANUIES‐ECOS NORD Project 315597, from CONACYT CVU 932774, from Cátedras CONACYT CVU 270504 Project 922, and from SIP Project 20220241.
information Consejo Nacional de Ciencia y Tecnología, Grant/Award Numbers: CVU 270504, CVU 932774, 922, 20210351The authors gratefully acknowledges the financial support from TecNM projects, from SEP-CONACYT-ANUIES-ECOS NORD Project 315597, from CONACYT CVU 932774, from Cátedras CONACYT CVU 270504 Project 922, and from SIP Project 20220241.
© 2022 John Wiley & Sons Ltd.
- input saturation
- state constraints
- uncertain linear systems