A dynamic scaling based control redesign procedure for uncertain nonlinear systems with input unmodeled dynamics

Prashanth Krishnamurthy, Farshad Khorrami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The global asymptotic stabilization problem for a general class of uncertain nonlinear systems with dynamic input uncertainties (input unmodeled dynamics) is considered. The system structure addressed in this paper is comprised of a nominal system (which can have a general nonlinear dynamics structure and is assumed to have a nominal control law to stabilize the nominal system) and an appended input unmodeled dynamics. The proposed approach is based on a control redesign utilizing the nominal control law and incorporating a singular-perturbation-like dynamic system extension along with a dynamic scaling to address the dynamic input uncertainties. The control input uncertainty structure is modeled through an uncertain non-affine function of the control input and the unmeasured state of an uncertain input unmodeled dynamics subsystem. The proposed control redesign approach is applicable to a wide class of nonlinear systems including triangular as well as non-triangular system structures as long as a set of structural and inequality conditions on the system dynamics are satisfied and provides a global robust output-feedback stabilizing controller.

Original languageEnglish (US)
Title of host publication19th IFAC World Congress IFAC 2014, Proceedings
EditorsEdward Boje, Xiaohua Xia
PublisherIFAC Secretariat
Pages3708-3713
Number of pages6
ISBN (Electronic)9783902823625
DOIs
StatePublished - 2014
Event19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 - Cape Town, South Africa
Duration: Aug 24 2014Aug 29 2014

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume19
ISSN (Print)1474-6670

Other

Other19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
CountrySouth Africa
CityCape Town
Period8/24/148/29/14

Keywords

  • Dynamic output feedback
  • Lyapunov methods
  • Nonlinear control systems
  • Robust control
  • Uncertain dynamic systems

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Krishnamurthy, P., & Khorrami, F. (2014). A dynamic scaling based control redesign procedure for uncertain nonlinear systems with input unmodeled dynamics. In E. Boje, & X. Xia (Eds.), 19th IFAC World Congress IFAC 2014, Proceedings (pp. 3708-3713). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 19). IFAC Secretariat. https://doi.org/10.3182/20140824-6-za-1003.02773