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

P. Krishnamurthy, F. 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 - Dec 1 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

Publication series

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

Keywords

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

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • 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). (Proceedings of the IASTED International Conference on Automation, Control, and Information Technology - Control, Diagnostics, and Automation, ACIT-CDA 2010).