Data-driven robust stabilization with robust domain of attraction estimate for nonlinear discrete-time systems

DOI10.1016/J.AUTOMATICA.2020.109031MaRDI QIDQ2207175zbMATH OpenOpenAlexFDO

Authors Yongqiang Li, Chaolun Lu, Zhongsheng Hou, Yuanjing Feng

Publication date 22 October 2020

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1909.12561

zbMATH Keywords

robust control of nonlinear systemsdomain of attractionasymptotic stabilizationdata-based control

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Control/observation systems with incomplete information (93C41) Discrete-time control/observation systems (93C55) Asymptotic stability in control theory (93D20) Adaptive or robust stabilization (93D21)

Abstract: Nonlinear robust control is pursued by overcoming the drawback of linear robust control that it ignores available information about existing nonlinearities and the resulting controllers may be too conservative, especially when the nonlinearities are significant. However, most existing nonlinear robust control approaches just consider the affine nonlinear nominal model and thereby ignore available information about existing non-affine nonlinearities. When the general nonlinear nominal model is considered, the robust domain of attraction (RDOA) of closed-loops requires extensive investigation because it is hard to achieve the global stabilization. In this paper, we propose a new nonlinear robust control method based on Lyapunov function to stabilize a discrete-time uncertain system and to estimate the RDOA of closed-loops. First, a sufficient condition for robust stabilization of all plants in a plant set and estimation of the RDOA of all closed-loops is proposed. Then, to tackle the non-affine nonlinearities, a data-driven method of estimating the robust negative-definite domains (RNDD) is presented, and based on it the estimation of the RDOA of closed-loops and the resulting controller design are also given.

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Cited in

(3)

• Data-driven robust optimal control for nonlinear system with uncertain disturbances
• Data-driven asymptotic stabilization for discrete-time nonlinear systems
• Relaxed stabilization synthesis of discrete-time nonlinear systems with uplink data loss based on a novel online evaluation mechanism

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