H-infinite control of time-varying polytopic quadratic systems with applications to a robotic manipulator

摘要

The H-infinite control of time-varying polytopic quadratic (TVPQ) systems is investigated in this paper. By the polytopic decomposition of all parameter dependent matrixes in every vertex and constructing an Lyapunov Function of parameter-dependent, the bilinear LMI-based conditions for obtaining the H-infinite control law of state feedback form are presented. Furthermore, a nonlinear semidefinite programing (SDP) solver-PENLAB is introduced to solve the corresponding bilinear LMI constraints. A practical example of two-joint planar robotic manipulator is used for illustration purposes.