A singular perturbation based approach for systems with nonlinear input uncertainties

P. Krishnamurthy, F. Khorrami

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

Abstract

A general class of uncertain nonlinear systems with input nonlinearities is considered. The system structure includes a core nominal system of triangular structure along with uncertain appended dynamics driven by the entire state of the system. The control input is allowed to enter non-affinely into the system dynamics as well as to have uncertainties coupled with it both in terms of an uncertain nonlinear function of the input and in terms of a dynamic perturbation due to uncertain appended dynamics. The control design is based on dual controller/observer dynamic high-gain scaling with an additional dynamic scaling based on a singular-perturbationlike 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. The application of the proposed control design approach to time-varying systems and systems containing uncertain state and input delays is also addressed, providing a delay-independent output-feedback control design.

Original languageEnglish (US)
Title of host publicationProceedings of the 2011 Chinese Control and Decision Conference, CCDC 2011
Pages1477-1482
Number of pages6
DOIs
StatePublished - 2011
Event2011 Chinese Control and Decision Conference, CCDC 2011 - Mianyang, China
Duration: May 23 2011May 25 2011

Publication series

NameProceedings of the 2011 Chinese Control and Decision Conference, CCDC 2011

Other

Other2011 Chinese Control and Decision Conference, CCDC 2011
CountryChina
CityMianyang
Period5/23/115/25/11

Keywords

  • Adaptive control
  • dynamic scaling
  • high gain
  • input nonlinearities
  • robustness
  • singular perturbation

ASJC Scopus subject areas

  • Information Systems and Management
  • Control and Systems Engineering

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  • Cite this

    Krishnamurthy, P., & Khorrami, F. (2011). A singular perturbation based approach for systems with nonlinear input uncertainties. In Proceedings of the 2011 Chinese Control and Decision Conference, CCDC 2011 (pp. 1477-1482). [5968425] (Proceedings of the 2011 Chinese Control and Decision Conference, CCDC 2011). https://doi.org/10.1109/CCDC.2011.5968425