Robust stabilization of nonlinear uncertain systems in the presence of input unmodeled dynamics

Z. Wang, F. Khorrami

Research output: Contribution to journalConference article

Abstract

In this paper, motivated by the recent results on control of nonlinear systems with input uncertainties and converse Lyapunov results with respect to an invariant set, we address the robust adaptive control issue in the presence of uncertainties including input unmodeled nonlinear dynamics. Nonlinear damping terms are introduced via backstepping to counteract the uncertainties and observer design is also employed to cancel the affects of the nonlinear unmodeled dynamics. To this end, nonlinear systems transformable to the Extended Strict Feedback Form with Input Uncertainties are considered. A robust adaptive controller is designed to achieve semiglobal stability with respect to an invariant set in the presence of uncertainties utilizing partial state feedback. The results are also extended to a class of decentralized systems.

Original languageEnglish (US)
Pages (from-to)3025-3030
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Volume3
StatePublished - 2000
Event39th IEEE Confernce on Decision and Control - Sysdney, NSW, Australia
Duration: Dec 12 2000Dec 15 2000

ASJC Scopus subject areas

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

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