Robust nonlinear control of feedforward systems with unmodeled dynamics
Nonlinear continuous time systems in feedforward form are considered with unmodeled dynamics appearing at the system input. More precisely, the dynamics of the nominal system is described by the equation \(\dot x=f( x,v,d) \), the unmodeled dynamics is represented by \(\dot \xi=q( \xi ,u,d) \) and \( v=p( \xi ,u,d) \), where \(d\) is a disturbance, \(u\) is the input of the system and \(v\) is the input of the nominal system. For this class of systems a nested saturation control law \(u=-\varphi _{1}( k_{1}x_{1}+\varphi _{2}( k_{2}x_{2}+\ldots \varphi _{n}( k_{n}x_{n}) \ldots)) \), where \(\varphi _{i}( .) \) are saturation functions and \(k_{i}\) are controller gains, is defined and a procedure is provided for the selection of \(k_{i}\) and saturation levels to guarantee global asymptotic stability, in the absence of disturbance, and finite disturbance to state gain, if the disturbance is bounded. The design does not require detailed knowledge of the unmodeled dynamics, and no restrictions on their zero dynamics and relative degree are needed. The authors show that the achieved robustness property is due to the law gain design, which is sufficient for the stabilization of systems in feedforward form. Without this feedforward structure, global stabilization might not be possible, using the same design tools.
- A small gain approach to global stabilization of nonlinear feedforward systems with input unmodeled dynamics
- Robust global stabilization of a class of uncertain feedforward nonlinear systems
- scientific article; zbMATH DE number 5184458
- Robust nonlinear control of systems with input unmodeled dynamics
- Global stabilization of a feedforward nonlinear system based on nested saturated control
- A nonlinear small gain theorem for the analysis of control systems with saturation
- A small-gain control method for nonlinear cascaded systems with dynamic uncertainties
- Adding integrations, saturated controls, and stabilization for feedforward systems
- Constructive Lyapunov stabilization of nonlinear cascade systems
- Constructive nonlinear control
- Robust control of nonlinear systems with input unmodeled dynamics
- Robustness of nonlinear control systems with respect to unmodeled dynamics
- Small-gain theorem for ISS systems and applications
- Smooth stabilization implies coprime factorization
- Stabilization in spite of matched unmodeled dynamics and equivalent definition of input-to-state stability
- Robust nonlinear control of systems with input unmodeled dynamics
- Global stabilization for feedforward nonlinear systems with unknown control direction and unknown growth rate
- Parameter-dependent controller design of stochastic strict feedforward nonlinear systems
- Local asymptotic stabilization for a class of uncertain upper-triangular systems
- Decentralized control design of interconnected chains of integrators: a case study
- On the stabilization of feedforward systems with bounded control
- Adaptive stabilization for a class of feedforward systems with zero-dynamics
- Stabilization of n integrators in cascade with bounded input with experimental application to a VTOL laboratory system
- Global stabilization for a class of stochastic high-order feedforward nonlinear systems via homogeneous domination approach
- Global asymptotic stabilization of stochastic feedforward nonlinear systems with input time-delay
- Stabilization of complex cascade systems using boundedness information in finite time
- Decentralized stabilization of large-scale feedforward systems using saturated delayed controls
- A multiple-control system for nonlinear discrete object under uncertainty
- Simple saturated designs for ANCBC systems and extension to feedforward nonlinear systems
- Adaptive backstepping sliding mode control for feedforward uncertain systems
- Adaptive and robust stabilization of feedforward nonlinear systems driven by symmetric and non-symmetric dead-zone inputs
- Input disturbance suppression for a class of feedforward uncertain nonlinear systems
- Designing a stabilizing controller for discrete‐time nonlinear feedforward systems with unknown input saturation
- Control of uncertain nonlinear fully linearizable systems
- Global stabilisation of complicated feedforward non-linear systems by constructing state-dependent saturation levels
- Robust output feedback passification of linear systems with unmodeled dynamics
- Robust stabilization of nonlinear cascaded systems
- A small gain approach to global stabilization of nonlinear feedforward systems with input unmodeled dynamics
This page was built for publication: Robust nonlinear control of feedforward systems with unmodeled dynamics
Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q5926175)
