A Singular Perturbation Based Global Dynamic High Gain Scaling Control Design for Systems With Nonlinear Input Uncertainties

A general class of uncertain nonlinear systems with input nonlinearities is considered. The system structure includes a core nominal system of triangular structure with additive uncertain nonlinear functions. The control input is allowed to enter non-affinely into the system dynamics as well as to h...

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Bibliographic Details
Published inIEEE transactions on automatic control Vol. 58; no. 10; pp. 2686 - 2692
Main Authors Krishnamurthy, Prashanth, Khorrami, Farshad
Format Journal Article
LanguageEnglish
Published IEEE 01.10.2013
Subjects
Control design
Feed-forward systems
high gain
Linear matrix inequalities
Lyapunov methods
non-affine
Nonlinear dynamical systems
nonlinear systems
Observers
output feedback
scaling
singular perturbation
Stability analysis
Uncertainty
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Summary:A general class of uncertain nonlinear systems with input nonlinearities is considered. The system structure includes a core nominal system of triangular structure with additive uncertain nonlinear functions. The control input is allowed to enter non-affinely into the system dynamics as well as to have uncertainties coupled with it in terms of an uncertain nonlinear function of the input and output. The control design is based on dual controller/observer dynamic high-gain scaling with an additional dynamic scaling based on a singular-perturbation-like redesign to address the non-affine and uncertain nature of the input appearance into the system dynamics. The proposed approach yields a global robust adaptive output-feedback control design.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2013.2257968