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

摘要

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.