Robust adaptive control of uncertain input-perturbed systems via a singular perturbation redesign through dynamic high-gain scaling

P. Krishnamurthy, Farshad Khorrami

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

Abstract

A general class of uncertain nonlinear systems with both state and input delays is considered. The considered system structure includes a core nominal system of triangular structure along with uncertain appended dynamics driven by the entire state of the system. The control input is allowed to enter nonaffinely into the system dynamics as well as to have uncertainties coupled with it. Both state and input delays are allowed to be time-varying and uncertain. The control design is based on our dual controller/observer dynamic high-gain scaling approach with an additional dynamic scaling based on a singular-perturbation-like redesign to address the nonaffine and uncertain nature of the input appearance into the system dynamics. The proposed approach yields a delay-independent robust adaptive output-feedback control design. The control implementation does not require knowledge of the time delays or any magnitude bounds thereof; the only information about the time delays that is required is a bound on the rate of variation of time delays.

Original languageEnglish (US)
Title of host publicationProceedings of the IASTED International Conference on Automation, Control, and Information Technology - Control, Diagnostics, and Automation, ACIT-CDA 2010
Pages140-147
Number of pages8
StatePublished - 2010
EventIASTED International Conference on Automation, Control, and Information Technology - Control, Diagnostics, and Automation, ACIT-CDA 2010 - Novosibirsk, Russian Federation
Duration: Jun 15 2010Jun 18 2010

Other

OtherIASTED International Conference on Automation, Control, and Information Technology - Control, Diagnostics, and Automation, ACIT-CDA 2010
CountryRussian Federation
CityNovosibirsk
Period6/15/106/18/10

Fingerprint

Time delay
Dynamical systems
Feedback control
Nonlinear systems
Controllers
Uncertainty

Keywords

  • Adaptive control
  • Dynamic scaling
  • High gain
  • Robustness
  • Singular perturbation
  • Uncertainty

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Krishnamurthy, P., & Khorrami, F. (2010). Robust adaptive control of uncertain input-perturbed systems via a singular perturbation redesign through dynamic high-gain scaling. In Proceedings of the IASTED International Conference on Automation, Control, and Information Technology - Control, Diagnostics, and Automation, ACIT-CDA 2010 (pp. 140-147)

Robust adaptive control of uncertain input-perturbed systems via a singular perturbation redesign through dynamic high-gain scaling. / Krishnamurthy, P.; Khorrami, Farshad.

Proceedings of the IASTED International Conference on Automation, Control, and Information Technology - Control, Diagnostics, and Automation, ACIT-CDA 2010. 2010. p. 140-147.

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

Krishnamurthy, P & Khorrami, F 2010, Robust adaptive control of uncertain input-perturbed systems via a singular perturbation redesign through dynamic high-gain scaling. in Proceedings of the IASTED International Conference on Automation, Control, and Information Technology - Control, Diagnostics, and Automation, ACIT-CDA 2010. pp. 140-147, IASTED International Conference on Automation, Control, and Information Technology - Control, Diagnostics, and Automation, ACIT-CDA 2010, Novosibirsk, Russian Federation, 6/15/10.
Krishnamurthy P, Khorrami F. Robust adaptive control of uncertain input-perturbed systems via a singular perturbation redesign through dynamic high-gain scaling. In Proceedings of the IASTED International Conference on Automation, Control, and Information Technology - Control, Diagnostics, and Automation, ACIT-CDA 2010. 2010. p. 140-147
Krishnamurthy, P. ; Khorrami, Farshad. / Robust adaptive control of uncertain input-perturbed systems via a singular perturbation redesign through dynamic high-gain scaling. Proceedings of the IASTED International Conference on Automation, Control, and Information Technology - Control, Diagnostics, and Automation, ACIT-CDA 2010. 2010. pp. 140-147
@inproceedings{b10c34bb17c7459ea815a1218cf581b7,
title = "Robust adaptive control of uncertain input-perturbed systems via a singular perturbation redesign through dynamic high-gain scaling",
abstract = "A general class of uncertain nonlinear systems with both state and input delays is considered. The considered system structure includes a core nominal system of triangular structure along with uncertain appended dynamics driven by the entire state of the system. The control input is allowed to enter nonaffinely into the system dynamics as well as to have uncertainties coupled with it. Both state and input delays are allowed to be time-varying and uncertain. The control design is based on our dual controller/observer dynamic high-gain scaling approach with an additional dynamic scaling based on a singular-perturbation-like redesign to address the nonaffine and uncertain nature of the input appearance into the system dynamics. The proposed approach yields a delay-independent robust adaptive output-feedback control design. The control implementation does not require knowledge of the time delays or any magnitude bounds thereof; the only information about the time delays that is required is a bound on the rate of variation of time delays.",
keywords = "Adaptive control, Dynamic scaling, High gain, Robustness, Singular perturbation, Uncertainty",
author = "P. Krishnamurthy and Farshad Khorrami",
year = "2010",
language = "English (US)",
isbn = "9780889868427",
pages = "140--147",
booktitle = "Proceedings of the IASTED International Conference on Automation, Control, and Information Technology - Control, Diagnostics, and Automation, ACIT-CDA 2010",

}

TY - GEN

T1 - Robust adaptive control of uncertain input-perturbed systems via a singular perturbation redesign through dynamic high-gain scaling

AU - Krishnamurthy, P.

AU - Khorrami, Farshad

PY - 2010

Y1 - 2010

N2 - A general class of uncertain nonlinear systems with both state and input delays is considered. The considered system structure includes a core nominal system of triangular structure along with uncertain appended dynamics driven by the entire state of the system. The control input is allowed to enter nonaffinely into the system dynamics as well as to have uncertainties coupled with it. Both state and input delays are allowed to be time-varying and uncertain. The control design is based on our dual controller/observer dynamic high-gain scaling approach with an additional dynamic scaling based on a singular-perturbation-like redesign to address the nonaffine and uncertain nature of the input appearance into the system dynamics. The proposed approach yields a delay-independent robust adaptive output-feedback control design. The control implementation does not require knowledge of the time delays or any magnitude bounds thereof; the only information about the time delays that is required is a bound on the rate of variation of time delays.

AB - A general class of uncertain nonlinear systems with both state and input delays is considered. The considered system structure includes a core nominal system of triangular structure along with uncertain appended dynamics driven by the entire state of the system. The control input is allowed to enter nonaffinely into the system dynamics as well as to have uncertainties coupled with it. Both state and input delays are allowed to be time-varying and uncertain. The control design is based on our dual controller/observer dynamic high-gain scaling approach with an additional dynamic scaling based on a singular-perturbation-like redesign to address the nonaffine and uncertain nature of the input appearance into the system dynamics. The proposed approach yields a delay-independent robust adaptive output-feedback control design. The control implementation does not require knowledge of the time delays or any magnitude bounds thereof; the only information about the time delays that is required is a bound on the rate of variation of time delays.

KW - Adaptive control

KW - Dynamic scaling

KW - High gain

KW - Robustness

KW - Singular perturbation

KW - Uncertainty

UR - http://www.scopus.com/inward/record.url?scp=84858781664&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84858781664&partnerID=8YFLogxK

M3 - Conference contribution

SN - 9780889868427

SP - 140

EP - 147

BT - Proceedings of the IASTED International Conference on Automation, Control, and Information Technology - Control, Diagnostics, and Automation, ACIT-CDA 2010

ER -