Dynamic scaling based global output feedback for systems with input uncertainties via a singular perturbation redesign

P. Krishnamurthy, F. Khorrami

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

Abstract

A general class of uncertain nonlinear systems with time-varying and uncertain state and input delays 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. The control design is based on dual controller/observer dynamic high-gain scaling with an additional dynamic scaling based on a singular-perturbation-like redesign to address the non-affine and uncertain nature of the input appearance into the system dynamics. The proposed approach yields a delay-independent robust adaptive output-feedback control design. The only information about the time delays that is required in the control implementation is a bound on the rate of variation of time delays.

Original languageEnglish (US)
Title of host publication2010 49th IEEE Conference on Decision and Control, CDC 2010
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2310-2315
Number of pages6
ISBN (Print)9781424477456
DOIs
StatePublished - 2010
Event49th IEEE Conference on Decision and Control, CDC 2010 - Atlanta, United States
Duration: Dec 15 2010Dec 17 2010

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Conference

Conference49th IEEE Conference on Decision and Control, CDC 2010
Country/TerritoryUnited States
CityAtlanta
Period12/15/1012/17/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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