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Output chattering attenuation between two tracking controllers

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Abstract

In this paper, an output chattering attenuation scheme is proposed for two tracking controllers. The controllers have integral actions and are used to eliminate the steady-state tracking errors. By designing a compensator and reducing the discontinuous switching, the output chattering at the switching points can be attenuated significantly. Moreover, combining with the generalized Kalman-Yakubovich-Popov (KYP) lemma and the parameter-dependent Lyapunov function method, this problem can be characterized in terms of linear matrix inequality (LMI) formulation. Finally, the simulation results demonstrate the effectiveness of the proposed method.

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Authors and Affiliations

  1. State Key Lab for Turbulence and Complex Systems, Department of Mechanics and Aerospace Engineering, College of Engineering, Peking University, Beijing, 100871, P. R. China

    Guozheng Qin & Zhisheng Duan

Authors
  1. Guozheng Qin
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  2. Zhisheng Duan
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Corresponding author

Correspondence to Zhisheng Duan.

Additional information

Recommended by Editorial Board member Won-Jong Kim under the direction of Editor Young Il Lee.

This work is supported by the National Science Foundation of China under Grants 90916003 and 60974078.

Guozheng Qin received his B.E. degree in automation from Inner Mongolia University, China, in 2007. Currently, he is pursuing a Ph.D. degree in the Department of Mechanics and Aerospace Engineering, Peking University, China. His research interests include robust control, flight control, and bumpless transfer, decentralized control.

Zhisheng Duan received his M.S. degree in mathematics from Inner Mongolia University, China and his Ph.D. degree in control theory from Peking University, China in 1997 and 2000, respectively. From 2000 to 2002, he worked as a postdoctor in Peking University. He received the 2001 Chinese Control Conference Guan-ZhaoZhi Award. Since 2008, he has been a Professor with the Department of Mechanics and Aerospace Engineering, College of Engineering, Peking University. His research interests include robust control, stability of interconnected systems, flight control, and analysis and control of complex dynamical networks.

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Qin, G., Duan, Z. Output chattering attenuation between two tracking controllers. Int. J. Control Autom. Syst. 10, 651–658 (2012). https://doi.org/10.1007/s12555-012-0324-6

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