LMI-based algorithms for robust tracking control of uncertain systems subject to actuator saturation

• Grant number: 25/10219-7
• Support Opportunities: Scholarships abroad - Research Internship - Master's degree
• Start date: October 01, 2025
• End date: March 31, 2026
• Field of knowledge: Engineering - Electrical Engineering - Industrial Electronics, Electronic Systems and Controls
• Principal Investigator: Ricardo Coração de Leão Fontoura de Oliveira
• Grantee: Matheus Henrique de Campos Marcomini
• Supervisor: Jungers Marc
• Host Institution: Faculdade de Engenharia Elétrica e de Computação (FEEC). Universidade Estadual de Campinas (UNICAMP). Campinas , SP, Brazil
• Institution abroad: Université de Lorraine (UL), France
• Associated to the scholarship: 23/15924-5 - Robust contRobust control using LMIs for trajectory tracking with application in line-following robotsrol using LMIs for trajectory tracking with application in line-following robots, BP.MS

Abstract

The purpose of this internship project is to enhance ongoing master's research by incorporating the treatment of control signal saturation, a common nonlinear phenomenon in engineering applications that introduces additional complexity in control synthesis. To address this challenge, two literature-based approaches are investigated, a generalized sector condition method, and a polytopic representation of the saturation nonlinearity. The control synthesis conditions are formulated using LMI-based algorithms. To validate the proposed approach, simulations (in the context of line-following robots) and comparisons (where possible) with other techniques from the literature are presented. (AU)