Abstract
This paper presents a new tool for feedback control design of nonlinear systems in the presence of non-smooth measurement errors. We introduce a small-gain design approach to robust control of nonlinear uncertain systems with disturbed measurement. As a design ingredient, a modified gain assignment technique for measurement feedback control of nonlinear uncertain systems is proposed. Through a recursive control design approach, the closed-loop system is transformed into a network of input-to-state stable (ISS) systems and the influences of the measurement errors are represented by ISS gains. The feedback control objective is achieved by applying the cyclic-small-gain theorem to the closed-loop system. Moreover, event-triggered control of nonlinear systems is studied in a unified framework of measurement feedback control.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 64-89 |
| Number of pages | 26 |
| Journal | Journal of Control and Decision |
| Volume | 7 |
| Issue number | 1 |
| DOIs | |
| State | Published - Jan 2 2020 |
Keywords
- Nonlinear systems
- input-to-state stability
- measurement error
- nonlinear small-gain theorem
ASJC Scopus subject areas
- Control and Systems Engineering
- Signal Processing
- Information Systems
- Human-Computer Interaction
- Computer Networks and Communications
- Control and Optimization
- Artificial Intelligence