A dynamic scaling based control redesign procedure for uncertain nonlinear systems with input unmodeled dynamics

Prashanth Krishnamurthy, Farshad Khorrami

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

Abstract

The global asymptotic stabilization problem for a general class of uncertain nonlinear systems with dynamic input uncertainties (input unmodeled dynamics) is considered. The system structure addressed in this paper is comprised of a nominal system (which can have a general nonlinear dynamics structure and is assumed to have a nominal control law to stabilize the nominal system) and an appended input unmodeled dynamics. The proposed approach is based on a control redesign utilizing the nominal control law and incorporating a singular-perturbation-like dynamic system extension along with a dynamic scaling to address the dynamic input uncertainties. The control input uncertainty structure is modeled through an uncertain non-affine function of the control input and the unmeasured state of an uncertain input unmodeled dynamics subsystem. The proposed control redesign approach is applicable to a wide class of nonlinear systems including triangular as well as non-triangular system structures as long as a set of structural and inequality conditions on the system dynamics are satisfied and provides a global robust output-feedback stabilizing controller.

Original languageEnglish (US)
Title of host publication19th IFAC World Congress IFAC 2014, Proceedings
PublisherIFAC Secretariat
Pages3708-3713
Number of pages6
Volume19
ISBN (Print)9783902823625
StatePublished - 2014
Event19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 - Cape Town, South Africa
Duration: Aug 24 2014Aug 29 2014

Other

Other19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
CountrySouth Africa
CityCape Town
Period8/24/148/29/14

Fingerprint

Nonlinear systems
Dynamical systems
Stabilization
Feedback
Controllers
Uncertainty

Keywords

  • Dynamic output feedback
  • Lyapunov methods
  • Nonlinear control systems
  • Robust control
  • Uncertain dynamic systems

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Krishnamurthy, P., & Khorrami, F. (2014). A dynamic scaling based control redesign procedure for uncertain nonlinear systems with input unmodeled dynamics. In 19th IFAC World Congress IFAC 2014, Proceedings (Vol. 19, pp. 3708-3713). IFAC Secretariat.

A dynamic scaling based control redesign procedure for uncertain nonlinear systems with input unmodeled dynamics. / Krishnamurthy, Prashanth; Khorrami, Farshad.

19th IFAC World Congress IFAC 2014, Proceedings. Vol. 19 IFAC Secretariat, 2014. p. 3708-3713.

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

Krishnamurthy, P & Khorrami, F 2014, A dynamic scaling based control redesign procedure for uncertain nonlinear systems with input unmodeled dynamics. in 19th IFAC World Congress IFAC 2014, Proceedings. vol. 19, IFAC Secretariat, pp. 3708-3713, 19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014, Cape Town, South Africa, 8/24/14.
Krishnamurthy P, Khorrami F. A dynamic scaling based control redesign procedure for uncertain nonlinear systems with input unmodeled dynamics. In 19th IFAC World Congress IFAC 2014, Proceedings. Vol. 19. IFAC Secretariat. 2014. p. 3708-3713
Krishnamurthy, Prashanth ; Khorrami, Farshad. / A dynamic scaling based control redesign procedure for uncertain nonlinear systems with input unmodeled dynamics. 19th IFAC World Congress IFAC 2014, Proceedings. Vol. 19 IFAC Secretariat, 2014. pp. 3708-3713
@inproceedings{30706eb329f443d99ca51dee8cb92bf6,
title = "A dynamic scaling based control redesign procedure for uncertain nonlinear systems with input unmodeled dynamics",
abstract = "The global asymptotic stabilization problem for a general class of uncertain nonlinear systems with dynamic input uncertainties (input unmodeled dynamics) is considered. The system structure addressed in this paper is comprised of a nominal system (which can have a general nonlinear dynamics structure and is assumed to have a nominal control law to stabilize the nominal system) and an appended input unmodeled dynamics. The proposed approach is based on a control redesign utilizing the nominal control law and incorporating a singular-perturbation-like dynamic system extension along with a dynamic scaling to address the dynamic input uncertainties. The control input uncertainty structure is modeled through an uncertain non-affine function of the control input and the unmeasured state of an uncertain input unmodeled dynamics subsystem. The proposed control redesign approach is applicable to a wide class of nonlinear systems including triangular as well as non-triangular system structures as long as a set of structural and inequality conditions on the system dynamics are satisfied and provides a global robust output-feedback stabilizing controller.",
keywords = "Dynamic output feedback, Lyapunov methods, Nonlinear control systems, Robust control, Uncertain dynamic systems",
author = "Prashanth Krishnamurthy and Farshad Khorrami",
year = "2014",
language = "English (US)",
isbn = "9783902823625",
volume = "19",
pages = "3708--3713",
booktitle = "19th IFAC World Congress IFAC 2014, Proceedings",
publisher = "IFAC Secretariat",

}

TY - GEN

T1 - A dynamic scaling based control redesign procedure for uncertain nonlinear systems with input unmodeled dynamics

AU - Krishnamurthy, Prashanth

AU - Khorrami, Farshad

PY - 2014

Y1 - 2014

N2 - The global asymptotic stabilization problem for a general class of uncertain nonlinear systems with dynamic input uncertainties (input unmodeled dynamics) is considered. The system structure addressed in this paper is comprised of a nominal system (which can have a general nonlinear dynamics structure and is assumed to have a nominal control law to stabilize the nominal system) and an appended input unmodeled dynamics. The proposed approach is based on a control redesign utilizing the nominal control law and incorporating a singular-perturbation-like dynamic system extension along with a dynamic scaling to address the dynamic input uncertainties. The control input uncertainty structure is modeled through an uncertain non-affine function of the control input and the unmeasured state of an uncertain input unmodeled dynamics subsystem. The proposed control redesign approach is applicable to a wide class of nonlinear systems including triangular as well as non-triangular system structures as long as a set of structural and inequality conditions on the system dynamics are satisfied and provides a global robust output-feedback stabilizing controller.

AB - The global asymptotic stabilization problem for a general class of uncertain nonlinear systems with dynamic input uncertainties (input unmodeled dynamics) is considered. The system structure addressed in this paper is comprised of a nominal system (which can have a general nonlinear dynamics structure and is assumed to have a nominal control law to stabilize the nominal system) and an appended input unmodeled dynamics. The proposed approach is based on a control redesign utilizing the nominal control law and incorporating a singular-perturbation-like dynamic system extension along with a dynamic scaling to address the dynamic input uncertainties. The control input uncertainty structure is modeled through an uncertain non-affine function of the control input and the unmeasured state of an uncertain input unmodeled dynamics subsystem. The proposed control redesign approach is applicable to a wide class of nonlinear systems including triangular as well as non-triangular system structures as long as a set of structural and inequality conditions on the system dynamics are satisfied and provides a global robust output-feedback stabilizing controller.

KW - Dynamic output feedback

KW - Lyapunov methods

KW - Nonlinear control systems

KW - Robust control

KW - Uncertain dynamic systems

UR - http://www.scopus.com/inward/record.url?scp=84929815475&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84929815475&partnerID=8YFLogxK

M3 - Conference contribution

SN - 9783902823625

VL - 19

SP - 3708

EP - 3713

BT - 19th IFAC World Congress IFAC 2014, Proceedings

PB - IFAC Secretariat

ER -