Liu Kai;Wenxue She;Jianhong Zhang;Zhiyong She;
This paper considers the adaptive Hinf control problem for piecewise affine systems(PWS),a novel synthesis framework is presented based on piecewise quadratic Lyapunov function instead of common quadratic Lyapunov function(PQLF) to achieve the less conservatism.First,by designing the projection-type piecewise adaptive law,the problem of the adaptive control of PWS can be reduced to the Hinf control problem of augmented piecewise systems.Then,we construct the piecewise affine control law for augmented piecewise systems in such a way that the piecewise quadratic Lyapunov function can be employed to establish the stability and Hinf performance.Particularly,the Reciprocal Projection Lemma is employed to formulate the synthesis condition as Linear Matrix Inequities,which enables the proposed PQLF approach is numerically solvable.Finally,the proposed approach is applied to the control synthesis of mini helicopter to illustrate the efficacy and advantage.
Piecewise-linear systems;;adaptive H_∞ control;;Piecewise quadratic Lyapunov function;;LMIs
To explore the background and basis of the node document
Documents that have the similar content to the node document