Robust reliable sampled-data H∞ control for uncertain stochastic systems with random delay

In this article, the problem of robust reliable sampled-data H∞ control for a class of uncertain nonlinear stochastic system with random delay control input against actuator failures has been studied. In the considered system, the parameter uncertainty satisfies the norm bounded condition and the involved time delay in control input are assumed to be randomly time-varying which is modeled by introducing Bernoulli distributed sequences. By constructing a novel Lyapunov-Krasovskii functional involving with the lower and upper bounds of the delay, a new set of sufficient conditions are derived in terms of linear matrix inequalities LMIs for ensuring the robust asymptotic stability of the uncertain nonlinear stochastic system with random delay and disturbance attenuation level γ>0 about its equilibrium point for all possible actuator failures. In particular, Schur complement together with Jenson's integral inequality is utilized to substantially simplify the derivation in the main results. The derived analytic results are applied to design robust reliable sampled-data H∞ controller for hanging crane structure model and simulation results are provided to demonstrate the effectiveness of the proposed control law. © 2014 Wiley Periodicals, Inc. Complexity 21: 42-58, 2015