Nonlinear controllers for nonlinear systems with input nonlinearities (Q1307593): Difference between revisions
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English | Nonlinear controllers for nonlinear systems with input nonlinearities |
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Nonlinear controllers for nonlinear systems with input nonlinearities (English)
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20 August 2001
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The authors consider control systems of the type \[ \dot x= f(x,\sigma(u)),\quad x(0)= x_0,\quad t\geq 0, \] where \(\sigma\) denotes an input nonlinearity -- in many cases saturation -- and present a methodology for designing globally stabilizing nonlinear controllers. An optimal control framework is used which additionally guarantees that the closed-loop system is robustly stable over a class of time-invariant, sector bounded, memoryless nonlinearities. This is accomplished by choosing the controller such that the time derivative of the control Lyapunov function is negative along the closed-loop system trajectories while providing sufficient conditions for the existence of asymptotically stabilizing solutions to the Hamilton-Jacobi-Bellman equation. Solution of the latter is avoided; the controllers are obtained from an inverse optimal control problem. The authors parametrize a family of stabilizing nonlinear controllers that minimize some derived cost functional. The paper concludes with an example for saturation control.
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optimal stabilization
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robust stabilization
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input nonlinearity
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saturation
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globally stabilizing nonlinear controllers
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control Lyapunov function
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inverse optimal control
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