Interval methods for variable-structure control of dynamic systems with state constraints
- Resource Type
- Conference
- Authors
- Rauh, Andreas; Senkel, Luise; Aschemann, Harald
- Source
- 2016 3rd Conference on Control and Fault-Tolerant Systems (SysTol) Control and Fault-Tolerant Systems (SysTol), 2016 3rd Conference on. :466-471 Sep, 2016
- Subject
- Aerospace
Robotics and Control Systems
Lyapunov methods
Sliding mode control
Asymptotic stability
Uncertainty
Trajectory
Real-time systems
- Language
- ISSN
- 2162-1209
The control of nonlinear dynamic systems is often a challenging task for practical applications if the process model under consideration is significantly influenced by uncertain parameters and bounded (additive) uncertainty and if it has to be guaranteed simultaneously that specific state constraints are not violated. According to previous work, the handling of bounded uncertainty becomes possible by using techniques from interval analysis in real time. This paper deals with the description of interval-based variable-structure control approaches which are extended in such a way that the violation of state constraints can be ruled out with certainty. For that purpose, possibilities are investigated that allow a combination of barrier Lyapunov function techniques with interval-based variable-structure control routines. Simulation results for an academic benchmark application as well as for the stabilization of an inverted pendulum conclude this paper.