A dynamic control redesign procedure for uncertain nonlinear systems subjected to input unmodeled dynamics

P. Krishnamurthy, F. Khorrami

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

Abstract

A global dynamic scaling based control redesign procedure is proposed for a general class of uncertain nonlinear systems with both static and dynamic input uncertainties (input unmodeled dynamics). It is shown that if a nominal control law is available that can globally asymptotically stabilize the nominal system (without the input unmodeled dynamics), then a dynamic redesign of the nominal control law can be performed to achieve global asymptotic stabilization of the system with the uncertain input unmodeled dynamics. The proposed control redesign approach is based on adding a singular-perturbation-like dynamic system extension to the nominal control law to address the control input uncertainties. The proposed technique is applicable to a general class of nonlinear systems including both triangular and non-triangular system structures and provides a global robust output-feedback stabilizing controller.

Original languageEnglish (US)
Title of host publication2016 American Control Conference, ACC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2924-2929
Number of pages6
ISBN (Electronic)9781467386821
DOIs
StatePublished - Jul 28 2016
Event2016 American Control Conference, ACC 2016 - Boston, United States
Duration: Jul 6 2016Jul 8 2016

Publication series

NameProceedings of the American Control Conference
Volume2016-July
ISSN (Print)0743-1619

Other

Other2016 American Control Conference, ACC 2016
CountryUnited States
CityBoston
Period7/6/167/8/16

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Krishnamurthy, P., & Khorrami, F. (2016). A dynamic control redesign procedure for uncertain nonlinear systems subjected to input unmodeled dynamics. In 2016 American Control Conference, ACC 2016 (pp. 2924-2929). [7525363] (Proceedings of the American Control Conference; Vol. 2016-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ACC.2016.7525363