LPV H<sub>∞</sub> Control with an Augmented Nonlinear Observer for Sawyer Motors

LPV H<sub>∞</sub> Control with an Augmented Nonlinear Observer for Sawyer Motors

This study presents LPV H<sub>∞</sub> control with an augmented nonlinear observer (ANOB) to improve both the position and yaw tracking errors for Sawyer motors. The proposed control method consists of the forces and torque modulation scheme, an ANOB, and a Lyapunov-based current control...

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Bibliographic Details
Main Authors: Khac Huan Su, Kwankyun Byeon, Wonhee Kim, Youngwoo Lee
Format: Article
Language:English
Published: MDPI AG 2021-12-01
Series:Mathematics
Subjects:
Sawyer motors
linear parameter varying (LPV) system
disturbance observer
augmented observer
linear matrix inequality (LMI)
H<sub>∞</sub> control
Online Access:https://www.mdpi.com/2227-7390/10/1/18

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