| Full text | |
| Author(s): |
Ribeiro, Alexandre M.
;
Fioravanti, Andre R.
;
Moutinho, Alexandra
;
de Paiva, Ely C.
;
IEEE
Total Authors: 5
|
| Document type: | Journal article |
| Source: | 2020 IEEE 6TH INTERNATIONAL CONFERENCE ON CONTROL SCIENCE AND SYSTEMS ENGINEERING (ICCSSE); v. N/A, p. 6-pg., 2019-01-01. |
| Abstract | |
This paper addresses the state feedback control synthesis for the class of nonaffine in input systems using the sum of squares (SOS) programming. Due to the nature of these systems, the SOS control design technique becomes a non-convex problem. In order to circumvent this issue, two input-affine approximations arc proposed, both based on linearization. In order to ensure better approximations, we propose the inclusion of new restrictions, which are inserted into the SOS program. Two examples are given to provide analytical and graphical illustration of the given approaches. It is performed the stability analysis of the open-loop system by estimating its region of attraction (RoA) and their enlargement, achieved with a slate feedback controller. (AU) | |
| FAPESP's process: | 18/05712-2 - Identification and control of a robotic electric vehicle with electronic differential |
| Grantee: | Alexandre Monteiro Ribeiro |
| Support Opportunities: | Scholarships in Brazil - Doctorate |
| FAPESP's process: | 18/04905-1 - Automatization of a Robotic Electric Vehicle with Electronic Differential |
| Grantee: | André Ricardo Fioravanti |
| Support Opportunities: | Regular Research Grants |
| FAPESP's process: | 14/50851-0 - INCT 2014: National Institute of Science and Technology for Cooperative Autonomous Systems Applied in Security and Environment |
| Grantee: | Marco Henrique Terra |
| Support Opportunities: | Research Projects - Thematic Grants |