@inproceedings{1bf02497d95b4f6fafec57fc0b27ee53,
title = "A singular perturbation based approach for systems with nonlinear input uncertainties",
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.",
keywords = "Adaptive control, dynamic scaling, high gain, input nonlinearities, robustness, singular perturbation",
author = "P. Krishnamurthy and F. Khorrami",
year = "2011",
doi = "10.1109/CCDC.2011.5968425",
language = "English (US)",
isbn = "9781424487363",
series = "Proceedings of the 2011 Chinese Control and Decision Conference, CCDC 2011",
pages = "1477--1482",
booktitle = "Proceedings of the 2011 Chinese Control and Decision Conference, CCDC 2011",
note = "2011 Chinese Control and Decision Conference, CCDC 2011 ; Conference date: 23-05-2011 Through 25-05-2011",
}