Abstract
This paper presents a unifying framework for the problem of robust global regulation via output feedback for nonlinear systems with integral input-to-state stable (iISS) inverse dynamics, subject to possibly unknown control direction. The contribution of the paper is two-fold. Firstly, we consider the problem of global regulation, instead of global asymptotic stabilization (GAS), for systems with generalized dynamic uncertainties. It is shown by an elementary example that GAS is not solvable using conventional smooth output feedback. Secondly, we reduce the stability requirements for the disturbance and demand relaxed assumptions for the system. Using our framework, most of the known classes of output feedback form systems are broadened in several directions: unmeasured states and unknown parameters can appear non-linearly, restrictive matching and growth assumptions are removed, the dynamic uncertainty satisfies the weaker condition of Sontag's integral input-to-state stability, and the sign of high-frequency gain may be unknown. A constructive strategy is proposed to design a dynamic output feedback control law, that drives the state to the origin while keeping all other closed-loop signals bounded.
| Original language | English (US) |
|---|---|
| Title of host publication | Proceedings of the IEEE Conference on Decision and Control |
| Pages | 1047-1052 |
| Number of pages | 6 |
| Volume | 1 |
| DOIs | |
| State | Published - 2003 |
| Event | 42nd IEEE Conference on Decision and Control - Maui, HI, United States Duration: Dec 9 2003 → Dec 12 2003 |
Other
| Other | 42nd IEEE Conference on Decision and Control |
|---|---|
| Country | United States |
| City | Maui, HI |
| Period | 12/9/03 → 12/12/03 |
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ASJC Scopus subject areas
- Control and Systems Engineering
- Safety, Risk, Reliability and Quality
- Chemical Health and Safety
Cite this
A Unifying Framework for Global Regulation via Nonlinear Output Feedback. / Jiang, Zhong-Ping; Mareels, I.; Hill, D. J.; Huang, J.
Proceedings of the IEEE Conference on Decision and Control. Vol. 1 2003. p. 1047-1052.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - A Unifying Framework for Global Regulation via Nonlinear Output Feedback
AU - Jiang, Zhong-Ping
AU - Mareels, I.
AU - Hill, D. J.
AU - Huang, J.
PY - 2003
Y1 - 2003
N2 - This paper presents a unifying framework for the problem of robust global regulation via output feedback for nonlinear systems with integral input-to-state stable (iISS) inverse dynamics, subject to possibly unknown control direction. The contribution of the paper is two-fold. Firstly, we consider the problem of global regulation, instead of global asymptotic stabilization (GAS), for systems with generalized dynamic uncertainties. It is shown by an elementary example that GAS is not solvable using conventional smooth output feedback. Secondly, we reduce the stability requirements for the disturbance and demand relaxed assumptions for the system. Using our framework, most of the known classes of output feedback form systems are broadened in several directions: unmeasured states and unknown parameters can appear non-linearly, restrictive matching and growth assumptions are removed, the dynamic uncertainty satisfies the weaker condition of Sontag's integral input-to-state stability, and the sign of high-frequency gain may be unknown. A constructive strategy is proposed to design a dynamic output feedback control law, that drives the state to the origin while keeping all other closed-loop signals bounded.
AB - This paper presents a unifying framework for the problem of robust global regulation via output feedback for nonlinear systems with integral input-to-state stable (iISS) inverse dynamics, subject to possibly unknown control direction. The contribution of the paper is two-fold. Firstly, we consider the problem of global regulation, instead of global asymptotic stabilization (GAS), for systems with generalized dynamic uncertainties. It is shown by an elementary example that GAS is not solvable using conventional smooth output feedback. Secondly, we reduce the stability requirements for the disturbance and demand relaxed assumptions for the system. Using our framework, most of the known classes of output feedback form systems are broadened in several directions: unmeasured states and unknown parameters can appear non-linearly, restrictive matching and growth assumptions are removed, the dynamic uncertainty satisfies the weaker condition of Sontag's integral input-to-state stability, and the sign of high-frequency gain may be unknown. A constructive strategy is proposed to design a dynamic output feedback control law, that drives the state to the origin while keeping all other closed-loop signals bounded.
UR - http://www.scopus.com/inward/record.url?scp=1542359028&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=1542359028&partnerID=8YFLogxK
U2 - 10.1109/CDC.2003.1272706
DO - 10.1109/CDC.2003.1272706
M3 - Conference contribution
AN - SCOPUS:1542359028
SN - 0780379241
VL - 1
SP - 1047
EP - 1052
BT - Proceedings of the IEEE Conference on Decision and Control
ER -