Integral Control for Nonlinear Systems Subject to Time-Varying Perturbations with Unknown Magnitudes

This paper focuses on the design of linear integral controllers for uncertain nonlinear systems subjected to various types of time-varying perturbations. We propose a method called the feedback domination method to address this problem. The time-varying perturbations can include constant step distur...

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Bibliographic Details
Published inInternational Conference on Automation, Robotics and Applications (Online) pp. 1 - 7
Main Authors Han, Zhifeng, Chen, Xiandong, Walton, Claire, Qian, Chunjiang
Format Conference Proceeding
LanguageEnglish
Published IEEE 22.02.2024
Subjects
Automation
Control systems
Design methodology
integral controller
nonlinear system
Perturbation methods
Stability criteria
time-varying system
Uncertain systems
Uncertainty
unknown magnitude
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ISSN2767-7745
DOI10.1109/ICARA60736.2024.10553038

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Summary:This paper focuses on the design of linear integral controllers for uncertain nonlinear systems subjected to various types of time-varying perturbations. We propose a method called the feedback domination method to address this problem. The time-varying perturbations can include constant step disturbances, exogenous time-varying disturbances with unknown magnitudes, and modeling uncertainties with unknown system parameters. The approach involves constructing a new linear integral controller with integral dynamics to drive the states of uncertain systems without nonlinear terms to the origin asymptotically Additionally, a high-gain technique is introduced to design a controller that can asymptotically drive the states of uncertain nonlinear systems to the origin. Finally, the paper introduces a new stability criterion and extends the results to a class of uncertain nonlinear systems with more general time-varying perturbations of unknown magnitudes.
ISSN:2767-7745
DOI:10.1109/ICARA60736.2024.10553038