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

DOI10.1016/J.EJCON.2017.12.004MaRDI QIDQ1663026zbMATH OpenOpenAlexWikidataFDO

Authors Robert Vrabel

Publication date 21 August 2018

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

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

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)

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.

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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
• Novel model reference adaptive control laws for improved transient dynamics and guaranteed saturation constraints
• Estimates of exponential convergence for solutions of stochastic nonlinear systems

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