Adaptive stabilization by delay with biased measurements

Denis Efimov (1) , Stanislav Aranovskiy (2) , Emilia Fridman (3) , Dmitry Sokolov (4) , Jian Wang (5) , Alexey Bobtsov (6)

1 VALSE - Finite-time control and estimation for distributed systems
2 CentraleSupélec
3 Department of Electrical Engineering
4 PIXEL - Structurer des formes géométriques
5 HDU - Hangzhou Dianzi University
6 Saint Petersburg State University of Information Technologies Mechanics and Optics

The problem of output robust adaptive stabilization for a class of Lipschitz nonlinear systems is studied under assumption that the measurements are available with a constant bias. The state reconstruction is avoided by using delayed values of the output in the feedback and adaptation laws. The control and adaptation gains can be selected as a solution of the proposed linear matrix inequalities (LMIs). The efficiency of the presented approach is demonstrated on a nonlinear pendulum through simulations.

Domaines: Automatique / Robotique

Denis Efimov, Stanislav Aranovskiy, Emilia Fridman, Dmitry Sokolov, Jian Wang, et al.. Adaptive stabilization by delay with biased measurements. IFAC 2020 - 21st IFAC World Congress, Jul 2020, Berlin, Germany. ⟨hal-02634582⟩