Robust $H_\infty$ proportional-integral observer-based controller for uncertain LPV system

Manh-Hung Do (1) , Damien Koenig (1) , Didier Theilliol (2)

1 GIPSA-SAFE - GIPSA - Safe, Controlled and Monitored Systems
2 CRAN - Centre de Recherche en Automatique de Nancy

The main contribution of this paper is a robust integrated design of proportional - integral (PI) observer and state-feedback controller for uncertain linear parameter-varying (LPV) system. In this design, both fault estimation and robust feedback stabilization are developed. Moreover, since the state-feedback controller is derived from the PI observer, the loop transfer recovery (LTR) properties can be designed to maximize the closed-loop performance. Meanwhile, the PI observer and controller gains are simultaneously obtained from a linear matrix inequality (LMI), which is inferred from estimation errors, Young equality and majorization lemma implementation. Finally, its application to a vehicle suspension platform is presented to highlight the performances of the developed method.

Domaines: Automatique / Robotique

Manh-Hung Do, Damien Koenig, Didier Theilliol. Robust $H_\infty$ proportional-integral observer-based controller for uncertain LPV system. Journal of The Franklin Institute, 2020, 357 (4), pp.2099-2130. ⟨10.1016/j.jfranklin.2019.11.053⟩. ⟨hal-02560272⟩