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论文类型：期刊论文

发表时间：2018-09-01

发表刊物：ASIAN JOURNAL OF CONTROL

收录刊物：SCIE

卷号：20

期号：5

页面范围：1881-1890

ISSN号：1561-8625

关键字：Nonlinear systems; H; control; hybrid systems

摘要：This paper provides a computable approach for the H control synthesis of nonlinear systems using the piecewise envelope method. Firstly, the computation method of piecewise envelope is presented such that the required piecewise linear differential inclusions (PWLDIs) can be obtained by solving a linear optimization problem. Then, we propose the H control design method for PWLDIs using piecewise Lyapunov function theory, all the synthesis conditions are formulated as the feasibility of linear matrix inequalities, hence computationally tractable. Because of the inclusion relationship, the H controllers designed for PWLDIs are also effective for original nonlinear systems. The validity of the proposed approach is tested by application to control a wheeled mobile robot.