Local null controllability of the control-affine nonlinear systems with time-varying disturbances

DOI10.1016/J.EJCON.2017.12.004zbMATH Open1403.93047arXiv1709.03266OpenAlexW3102970876WikidataQ115449348 ScholiaQ115449348MaRDI QIDQ1663026FDOQ1663026

Authors: Robert Vrabel 

Publication date: 21 August 2018

Published in: European Journal of Control (Search for Journal in Brave)

Abstract: The problem of local null controllability for the control-affine nonlinear systems $dotx(t)=f(x(t))+Bu(t)+w(t),$ $tin[0,T]$ is considered in this paper. The principal requirements on the system are that the LTI pair $left((partialf/partialx)(0),Bight)$ is controllable and the disturbance is limited by the constraint $|f(0)+w(t)|leq{M}_{d}left(1-fractTight{)}^{e}ta,$ $M_{d}geq0$ and $eta>0.$ These properties together with one technical assumption yield a complete answer to the problem of deciding when the null controllable region have a nonempty interior. The criteria obtained involve purely algebraic manipulations of vector field $f,$ input matrix $B$ and bound on the disturbance $w(t).$ To prove the main result we have derived a new Gronwall-type inequality allowing the fine estimates of the closed-loop solutions. The theory is illustrated and the efficacy of proposed controller is demonstrated by the examples where the null controllable region is explicitly calculated. Finally we established the sufficient conditions to be the system under consideration (with $w(t)equiv0$) globally null controllable.

Full work available at URL: https://arxiv.org/abs/1709.03266

Recommendations

• Publication:4937997
• scientific article; zbMATH DE number 25849
• Robust control of nonlinear affine systems
• Global null controllability of perturbed linear systems with constrained controls
• Asymptotic null controllability of nonlinear perturbed systems

zbMATH Keywords

nonlinear systemsstate feedbacknull controllabilityGronwall-type inequalitynull controllable region

Mathematics Subject Classification ID

Controllability (93B05) Feedback control (93B52) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Perturbations in control/observation systems (93C73)

Cites Work

• Nonlinear control systems: An introduction
• Title not available (Why is that?)
• Title not available (Why is that?)
• An explicit description of null controllable regions of linear systems with saturating actuators.
• Control and nonlinearity.
• Title not available (Why is that?)
• Title not available (Why is that?)
• Contrôlabilité des Systèmes non Linéaires
• Title not available (Why is that?)
• Controllability of nonlinear systems
• Über Systeme von linearen partiellen Differentialgleichungen erster Ordnung
• A General Theorem on Local Controllability
• Controllability of Nonlinear Systems on Compact Manifolds
• System Theory on Group Manifolds and Coset Spaces
• Title not available (Why is that?)
• Digitization of nonautonomous control systems.
• Title not available (Why is that?)
• Global null controllability of perturbed linear systems with constrained controls

Cited In (4)

• Eigenvalue based approach for assessment of global robustness of nonlinear dynamical systems
• Practical stability analysis of stochastic perturbed linear time-varying systems via integral inequality
• Estimates of exponential convergence for solutions of stochastic nonlinear systems
• Novel model reference adaptive control laws for improved transient dynamics and guaranteed saturation constraints

This page was built for publication: Local null controllability of the control-affine nonlinear systems with time-varying disturbances

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q1663026)