Global Robust State-Feedback for Nonlinear Systems via Dynamic High-Gain Scaling

P. Krishnamurthy, F. Khorrami

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

Abstract

We propose state-feedback controller design methodologies using our recent results on uniform solvability of state-dependent matrix Lyapunov equations. The controller designs obtained do not involve recursive computations and have a simple form being essentially a linear feedback with state-dependent dynamic gains. Furthermore, the Lyapunov functions utilized in the designs are quadratic functions of the states. A static state-feedback controller using the weak Cascading Upper Diagonal Dominance (w-CUDD) concept is presented first. We then consider a dynamic state-feedback controller utilizing a dynamic high-gain scaling technique to obtain a controller under weaker assumptions. The designs obtained are applicable to a class of systems which is a generalization of the strict-feedback form as long as certain assumptions regarding relative magnitudes of terms that appear in the system dynamics are satisfied. The designed controllers provide global robust state-feedback asymptotic stabilization.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Pages6139-6144
Number of pages6
DOIs
StatePublished - 2003
Event42nd IEEE Conference on Decision and Control - Maui, HI, United States
Duration: Dec 9 2003Dec 12 2003

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume6
ISSN (Print)0191-2216

Other

Other42nd IEEE Conference on Decision and Control
CountryUnited States
CityMaui, HI
Period12/9/0312/12/03

ASJC Scopus subject areas

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

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