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arXiv · 2411.12955

Matrix-Scheduling of QSR-Dissipative Systems

Sepehr Moalemi·James Richard Forbes
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Abstract

This paper considers gain-scheduling of QSR-dissipative subsystems using scheduling matrices. The corresponding QSR-dissipative properties of the overall matrix-gain-scheduled system, which depends on the QSR properties of the subsystems scheduled, are explicitly derived. The use of scheduling matrices is a generalization of the scalar scheduling signals used in the literature, and allows for greater design freedom when scheduling systems, such as in the case of gain-scheduled control. Furthermore, this work extends the existing gain-scheduling results to a broader class of QSR-dissipative systems. The matrix-scheduling of important special cases, such as passive, input strictly passive, output strictly passive, finite L2 gain, very strictly passive, and conic systems are presented. The proposed gain-scheduling architecture is used in the context of controlling a planar three-link robot subject to model uncertainty. A novel control synthesis technique is used to design QSR-dissipative subcontrollers that are gain-scheduled using scheduling matrices. Numerical simulation results highlight the greater design freedom of scheduling matrices, leading to improved performance.

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Sepehr Moalemi, James Richard Forbes. 2024-11-20. Matrix-Scheduling of QSR-Dissipative Systems. https://doi.org/10.1109/tac.2025.3542329

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