Less Conservative Adaptive Gain-scheduling Control for Continuous-time Systems with Polytopic Uncertainties
Journal:
arXiv
Published Date:
Jun 14, 2025
Abstract
The synthesis of adaptive gain-scheduling controller is discussed for
continuous-time linear models characterized by polytopic uncertainties. The
proposed approach computes the control law assuming the parameters as uncertain
and adaptively provides an estimate for the gain-scheduling implementation.
Conservativeness is reduced using our recent results on describing uncertainty:
i) a structural relaxation that casts the parameters as outer terms and
introduces slack variables; and ii) a precise topological representation that
describes the mismatch between the uncertainty and its estimate. Numerical
examples illustrate a high degree of relaxation in comparison with the
state-of-the-art.
