Transformation of CLF to ISS-CLF for Nonlinear Systems with Disturbance and Construction of Nonlinear Robust Controller with L2 Gain Performance

A new nonlinear control law for a class of nonlinear systems with disturbance is proposed. A control law is designed by transforming control Lyapunov function (CLF) to input-to-state stability control Lyapunov function (ISS-CLF). The transformed CLF satisfies a Hamilton-Jacobi-Isaacs (HJI) equation....

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Bibliographic Details
Published inJournal of control science and engineering Vol. 2014
Main Authors Okano, Keizo, Hagino, Kojiro, Oya, Hidetoshi
Format Journal Article
LanguageEnglish
Published Wiley 01.01.2014
Subjects
Control systems
Disturbances
Dynamical systems
L2 gain
Law
Lyapunov functions
Mathematical analysis
Nonlinearity
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Summary:A new nonlinear control law for a class of nonlinear systems with disturbance is proposed. A control law is designed by transforming control Lyapunov function (CLF) to input-to-state stability control Lyapunov function (ISS-CLF). The transformed CLF satisfies a Hamilton-Jacobi-Isaacs (HJI) equation. The feedback system by the proposed control law has characteristics of sub(L2) gain. Finally, it is shown by a numerical example that the proposed control law makes a controller by feedback linearization robust against disturbance.
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ISSN:1687-5249
1687-5257
DOI:10.1155/2014/527893