Global Robust State-Feedback for Nonlinear Systems via Dynamic High-Gain Scaling

P. Krishnamurthy, Farshad Khorrami

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

Abstract

We propose state-feedback controller design methodologies using our recent results on uniform solvability of state-dependent matrix Lyapunov equations. The controller designs obtained do not involve recursive computations and have a simple form being essentially a linear feedback with state-dependent dynamic gains. Furthermore, the Lyapunov functions utilized in the designs are quadratic functions of the states. A static state-feedback controller using the weak Cascading Upper Diagonal Dominance (w-CUDD) concept is presented first. We then consider a dynamic state-feedback controller utilizing a dynamic high-gain scaling technique to obtain a controller under weaker assumptions. The designs obtained are applicable to a class of systems which is a generalization of the strict-feedback form as long as certain assumptions regarding relative magnitudes of terms that appear in the system dynamics are satisfied. The designed controllers provide global robust state-feedback asymptotic stabilization.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Pages6139-6144
Number of pages6
Volume6
DOIs
StatePublished - 2003
Event42nd IEEE Conference on Decision and Control - Maui, HI, United States
Duration: Dec 9 2003Dec 12 2003

Other

Other42nd IEEE Conference on Decision and Control
CountryUnited States
CityMaui, HI
Period12/9/0312/12/03

Fingerprint

State feedback
Nonlinear systems
Controllers
Feedback
Lyapunov functions
Dynamical systems
Stabilization

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality
  • Chemical Health and Safety

Cite this

Krishnamurthy, P., & Khorrami, F. (2003). Global Robust State-Feedback for Nonlinear Systems via Dynamic High-Gain Scaling. In Proceedings of the IEEE Conference on Decision and Control (Vol. 6, pp. 6139-6144) https://doi.org/10.1109/CDC.2003.1272251

Global Robust State-Feedback for Nonlinear Systems via Dynamic High-Gain Scaling. / Krishnamurthy, P.; Khorrami, Farshad.

Proceedings of the IEEE Conference on Decision and Control. Vol. 6 2003. p. 6139-6144.

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

Krishnamurthy, P & Khorrami, F 2003, Global Robust State-Feedback for Nonlinear Systems via Dynamic High-Gain Scaling. in Proceedings of the IEEE Conference on Decision and Control. vol. 6, pp. 6139-6144, 42nd IEEE Conference on Decision and Control, Maui, HI, United States, 12/9/03. https://doi.org/10.1109/CDC.2003.1272251
Krishnamurthy P, Khorrami F. Global Robust State-Feedback for Nonlinear Systems via Dynamic High-Gain Scaling. In Proceedings of the IEEE Conference on Decision and Control. Vol. 6. 2003. p. 6139-6144 https://doi.org/10.1109/CDC.2003.1272251
Krishnamurthy, P. ; Khorrami, Farshad. / Global Robust State-Feedback for Nonlinear Systems via Dynamic High-Gain Scaling. Proceedings of the IEEE Conference on Decision and Control. Vol. 6 2003. pp. 6139-6144
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