LPV H∞ Control with an Augmented Nonlinear Observer for Sawyer Motors

This study presents LPV H∞ control with an augmented nonlinear observer (ANOB) to improve both the position and yaw tracking errors for Sawyer motors. The proposed method consists of forces torque modulation scheme, ANOB, a Lyapunov-based current controller state feedback guarantee stability error dynamics. ANOB is designed estimate all variables including position, velocity, current, disturbance using only feedback. We propose vertex expansion technique solve influence convex interpolation parameters in system on performance. To be robust against disturbance, gain scheduling determined by applying linear-matrix-inequality (LMI) technique. closed-loop proved through Lyapunov theory. effectiveness evaluated simulation results compared conventional proportional-integral-derivative (PID) verify improved performance suitable rejection.