Transformation of CLF to ISS-CLF for nonlinear systems with disturbance and construction of nonlinear robust controller with \(\mathcal L_2\) gain performance (Q2338766)
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scientific article
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Transformation of CLF to ISS-CLF for nonlinear systems with disturbance and construction of nonlinear robust controller with \(\mathcal L_2\) gain performance |
scientific article |
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Transformation of CLF to ISS-CLF for nonlinear systems with disturbance and construction of nonlinear robust controller with \(\mathcal L_2\) gain performance (English)
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27 March 2015
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Summary: A new nonlinear control law for a class of nonlinear systems with disturbance is proposed. A control law is designed by transforming Control Lyapunov function (CLF) to Input-to-State Stability control Lyapunov function (ISS-CLF). The transformed CLF satisfies a Hamilton-Jacobi-Isaacs (HJI) equation. The feedback system by the proposed control law has characteristics of \(\mathcal L_2\) gain. Finally, it is shown by a numerical example that the proposed control law makes a controller by feedback linearization robust against disturbance.
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nonlinear systems with disturbance
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input-to-state stability control Lyapunov function (ISS-CLF)
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Hamilton-Jacobi-Isaacs (HJI) equation
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robust feedback linearization
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