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.

中文翻译：

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受致动器饱和影响的线性差分包含的增益调度控制


本文重点研究执行器饱和时线性微分包含物的鲁棒稳定性问题。一组连续的非线性控制器由参数相关的凸包 Lyapunov 函数构造，以避免已知最坏情况干扰的执行器饱和。每次根据闭环状态选择能够在满足饱和界限的同时实现最佳闭环性能的控制器。由于连续动态增益调度控制律的应用，可以同时获得内部稳定性和保证的扰动衰减。对四分之一车主动悬架系统进行了研究，以证明所提出方法的优点。