Abstract
This paper focuses on the problem of robust stabilization of linear differential inclusions subject to actuator saturation. A continuous set of nonlinear controllers is constructed by a parameter-dependent convex hull Lyapunov function to avoid actuator saturation for known worst-case disturbances. The controller, which can achieve the best closed-loop performance while complies the saturation bound, is selected at each time, based on the closed-loop states. Thanks to the application of the continuous dynamic gain-scheduled control law, the internal stability and guaranteed disturbance attenuation can be obtained simultaneously. A quarter-car active suspension system is studied to demonstrate the benefit of the proposed method.
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