Unit-Vector Control Design under Saturating Actuators

Andevaldo da Encarnação Vitório; Pedro Henrique Silva Coutinho; Iury Bessa; Victor Hugo Pereira Rodrigues; Tiago Roux Oliveira

arXiv · 2504.07239

Unit-Vector Control Design under Saturating Actuators

Andevaldo da Encarnação Vitório·Pedro Henrique Silva Coutinho·Iury Bessa·Victor Hugo Pereira Rodrigues·Tiago Roux Oliveira

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Abstract

This paper deals with unit vector control design for multivariable polytopic uncertain systems under saturating actuators. For that purpose, we propose LMI-based conditions to design the unit vector control gain such that the origin of the closed-loop system is finite-time stable. Moreover, an optimization problem is provided to obtain an enlarged estimate of the region of attraction of the equilibrium point for the closed-loop system, where the convergence of trajectories is ensured even in the presence of saturation functions. Numerical simulations illustrate the effectiveness of the proposed approach.

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BibTeX RIS

Andevaldo da Encarnação Vitório, Pedro Henrique Silva Coutinho, Iury Bessa, Victor Hugo Pereira Rodrigues, Tiago Roux Oliveira. 2025-04-09. Unit-Vector Control Design under Saturating Actuators. https://arxiv.org/abs/2504.07239

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