Accuracy of Fridman's estimates for sampling interval: nonlinear system case study

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• 作者：Egor V. Usik^* ; ^{egor.usik@gmail.com" class="auth_mail" title="E-mail the corresponding author} ; Ruslan E. Seifullaev^** ; ^{ruslanspb-zenit@yandex.ru" class="auth_mail" title="E-mail the corresponding author} ; Alexander L. Fradkov^*** ; ^{fradkov@mail.ru" class="auth_mail" title="E-mail the corresponding author} ; Tatiana A. Bryntseva^**** ; ^{tbryntseva@bk.ru" class="auth_mail" title="E-mail the corresponding author}
• 关键词：Stability of nonlinear systems ; Passivity-based control ; Networked systems ; LMI
• 刊名：IFAC-PapersOnLine
• 出版年：2014
• 出版时间：2014
• 年：2014
• 卷：47
• 期：3
• 页码：11165-11170
• 全文大小：471 K

文摘

An attempt to evaluate accuracy of Fridman's sampling interval estimates for nonlinear discrete-continuous systems where the controlled plant belongs to a class of cascade passifiable Lurie systems. Numerical results obtained for master-slave configuration of two mobile robots demonstrate good accuracy of Fridman's estimates: error of the sampling interval estimate is less than 25% of the value obtained from extensive simulation. In contrast, the error obtained by conventional method from quadratic Lyapunov function is more than 75% of the value obtained from simulation.