Optimal control of uncertain nonlinear quadratic systems
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Publication:1679129
DOI10.1016/J.AUTOMATICA.2017.05.012zbMATH Open1373.93100arXiv1701.03008OpenAlexW2729722365MaRDI QIDQ1679129FDOQ1679129
Authors: A. Merola, C. Cosentino, Domenico Colacino, F. Amato 
Publication date: 8 November 2017
Published in: Automatica (Search for Journal in Brave)
Abstract: This paper addresses the problem of robust and optimal control for the class of nonlinear quadratic systems subject to norm-bounded parametric uncertainties and disturbances, and in presence of some amplitude constraints on the control input. By using an approach based on the guaranteed cost control theory, a technique is proposed to design a state feedback controller ensuring for the closed-loop system: i) the local exponential stability of the zero equilibrium point; ii) the inclusion of a given region into the domain of exponential stability of the equilibrium point; iii) the satisfaction of a guaranteed level of performance, in terms of boundedness of some optimality indexes. In particular, a sufficient condition for the existence of a state feedback controller satisfying a prescribed integral-quadratic index is provided, followed by a sufficient condition for the existence of a state feedback controller satisfying a given -gain disturbance rejection constraint. By the proposed design procedures, the optimal control problems dealt with here can be efficiently solved as Linear Matrix Inequality (LMI) optimization problems.
Full work available at URL: https://arxiv.org/abs/1701.03008
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Sensitivity (robustness) (93B35) Sensitivity, stability, well-posedness (49K40) Feedback control (93B52) Nonlinear systems in control theory (93C10)
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Cited In (15)
- Non-quadratic proxy functions in mirror descent method applied to designing of robust controllers for nonlinear dynamic systems with uncertainty
- Extended adaptive optimal control of linear systems with unknown dynamics using adaptive dynamic programming
- Robust \(H_2/H_\infty\) control for a class of time-varying nonlinear stochastic systems with state- and control-dependent noises
- Integral sliding mode fault-tolerant control allocation for a class of affine nonlinear system
- The piecewise parametric optimal control of uncertain linear quadratic models
- Robust control and guaranteed cost control for uncertain nonlinear systems
- Consensus control of linear systems with optimal performance on directed topologies
- Optimal nonlinear, but continuous, feedback control of systems with saturating actuators
- Adaptive observer-based integral sliding mode control of a piezoelectric nano-manipulator
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- Optimality and robustness of linear quadratic control for nonlinear systems
- Stabilization of nonlinear systems with semi-quadratic cost
- Time-delayed local feedback control for a chaotic finance system
- Guaranteed cost control for exponential stability of a nonlinear system with mixed time-varying delays in states and controls
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