Stabilization of nonlinear uncertain systems
The present monograph addresses stabilization and disturbance attenuation problems for different types of nonlinear systems, in relation with associated (inverse) optimal control problems. The authors promise a ``uniform presentation of robust/stochastic/adaptive control and -- within the chosen approach and the scope of the book -- in fact manage to keep their promise. The material -- primarily research results of the authors from the last years -- is organized in three parts, dealing with deterministic systems, stochastic systems and adaptive control. Here the last part mainly (but not exclusively) covers deterministic systems and is the most specialized one. The book starts with a short summary of the theory of control Lyapunov functions for deterministic systems in Chapter 1, and then consecutively addresses deterministic disturbance attenuation, stochastic stability, stochastic disturbance attenuation, deterministic adaptive tracking, and stochastic adaptive regulation in the Chapters 2-6. These chapters provide a uniform approach (as far as permitted by the different problems addressed), in which the authors in each chapter introduce the appropriate stability concept (e.g., input-to-state, in probability, noise-to-state) and then formulate and solve a corresponding inverse optimal control problem. This, in turn, is done by means of feedback laws obtained by ``Sontag-type formulas from suitable Lyapunov functions which are designed via backstepping techniques. The remaining chapters somewhat deviate from this approach: Chapter 7 is devoted to the asymptotic analysis of the parameter estimates in adaptive control laws using invariant manifold theory, and Chapter 8 addresses extremum searching control (i.e. the adaptive stabilization of a point realizing some extremum in the reference-to-output map) by means of singular perturbations and averaging techniques. The main concern of the authors is ``constructiveness, meaning that they provide algorithms and formulas rather than abstract existence theorems (one exception from that rule is the equivalence proof between input-to-state stabilizability and the solvability of the inverse optimal gain assignment problem). Of course, this approach bears inherent drawbacks, such as the restriction to specific classes of systems (here typically systems in strict feedback form), and the presence of huge equations in the proofs (see, e.g., Pages 51ff.) sometimes hiding the geometric nature of the underlying problems. On the other hand, the reader is rewarded by algorithms and formulas yielding analytic expressions for the resulting feedback control laws, which are well illustrated by several examples. The material in the Chapters 1, 2 and 5 of this book is accessible to students, engineers and mathematicians with a background in basic deterministic systems or control theory, or in basic stability theory for ordinary differential equations. Chapters 3, 4 and 6 require basic knowledge on stochastic systems, and Chapters 7 and 8 need some more knowledge on invariant manifolds and singular perturbations (both for deterministic systems), respectively. Apart from being a valuable source for anyone interested in constructive methods for stabilization, due to the uniform presentation especially in the Chapters 2-6 this book may well serve for an advanced course on nonlinear control.
- Adaptive state-feedback stabilization of high-order stochastic systems with nonlinear parameterization
- Adaptive optimal control for continuous-time linear systems based on policy iteration
- Inverse optimal stabilization for stochastic nonlinear systems whose linearizations are not stabilizable
- Backstepping controller design for a class of stochastic nonlinear systems with Markovian switching
- Nonlinear control systems. II
- Adaptive extremum seeking control of nonlinear dynamic systems with parametric uncertainties.
- Universal formulas for feedback stabilization with respect to Minkowski balls
- Asymptotic stability equals exponential stability, and ISS equals finite energy gain -- if you twist your eyes.
- Stochastic and adaptive optimal control of uncertain interconnected systems: a data-driven approach
- Output feedback stabilization for stochastic high-order nonlinear systems with SISS-like inverse dynamic
- Stability analysis of random systems with Markovian switching and its application
- Stability of a class of stochastic nonlinear systems with Markovian switching
- Analysis and synthesis of global nonlinear \(\mathcal{H}_{\infty}\) controller for robot manipulators
- Lyapunov characterization for the stability of stochastic control systems
- Adaptive NN state-feedback control for stochastic high-order nonlinear systems with time-varying control direction and delays
- Adaptive tracking control for uncertain switched stochastic nonlinear pure-feedback systems with unknown backlash-like hysteresis
- Noise-to-state exponential stability of neutral random nonlinear systems
- Robust control barrier functions for constrained stabilization of nonlinear systems
- Adaptive output feedback control of stochastic nonholonomic systems with nonlinear parameterization
- Complex dynamical network control for trajectory tracking using delayed recurrent neural networks
- Asymptotic stabilization by state feedback for a class of stochastic nonlinear systems with time-varying coefficients
- The adaptive neural control for a class of high-order uncertain stochastic nonlinear systems
- A new approach to adaptive stabilization of stochastic high-order nonholonomic systems
- State-feedback stabilization for stochastic high-order nonlinear systems with time-varying delays
- Absolute stability of a class of nonlinear singular systems with time delay
- Stable-protocol admissible synchronizability for high-order singular complex networks with switching topologies
- Admissible \(L_2\) consensus for singular time-delayed swarm systems with external disturbances
- Output feedback stabilization for stochastic nonholonomic systems under arbitrary switching
- Robust finite-time fault estimation for stochastic nonlinear systems with Brownian motions
- Practical stabilization of a class of nonlinear systems with partially known uncertainties
- Adaptive control for output feedback nonlinear systems in the presence of modeling errors
- Adaptive state-feedback stabilization for high-order stochastic nonlinear systems driven by noise of unknown covariance
- High-order stochastic adaptive controller design with application to mechanical system
- Stochastic stabilization of nonholonomic mobile robot with heading-angle-dependent disturbance
- Output-feedback stabilization of stochastic nonlinear systems driven by noise of unknown covariance
- Robust neural tracking control for switched nonaffine stochastic nonlinear systems with unknown control directions and backlash-like hysteresis
- State-feedback stabilization for a class of stochastic feedforward nonlinear time-delay systems
- Periodic solution and dynamical analysis for a delayed food chain model with general functional response and discontinuous harvesting
- Parameter-dependent controller design of stochastic strict feedforward nonlinear systems
- Output feedback domain stabilization in probability in fixed time for nonlinear stochastic systems
- The regulation controller design for linear random systems with an uncertain exosystem
- Trajectory tracking and disturbance rejection control of random linear systems
- Output feedback stabilization of stochastic planar nonlinear systems with output constraint
- Design of nonlinear optimal control for chaotic synchronization of coupled stochastic neural networks via Hamilton-Jacobi-Bellman equation
- Observer-based adaptive fuzzy tracking control for stochastic nonlinear multi-agent systems with dead-zone input
- Stability analysis of random nonlinear systems with time-varying delay and its application
- Adaptive-gain observer-based stabilization of stochastic strict-feedback systems with sensor uncertainty
- Global inverse optimal stabilization of stochastic nonholonomic systems
- State-feedback stabilization for stochastic high-order nonlinear systems with Markovian switching
- Adaptive tracking control for a class of stochastic switched systems with stochastic input-to-state stable inverse dynamics and input saturation
- Practical trajectory tracking of random Lagrange systems
- Inverse optimal gain assignment control of evolution systems and its application to boundary control of marine risers
- Generalized Lyapunov criteria on finite-time stability of stochastic nonlinear systems
- Inverse optimal control of stochastic systems driven by Lévy processes
- Simultaneous input and state estimation for stochastic nonlinear systems with additive unknown inputs
- State-feedback stabilization of stochastic nonholonomic systems with an unknown time-varying delay
- Adaptive output feedback stabilization of random nonlinear systems with unmodeled dynamics driven by colored noise
- Adaptive exponential stabilization for a class of stochastic nonholonomic systems
- Trajectory tracking of flexible joint manipulators actuated by DC-motors under random disturbances
- Observer-based decentralized control of large-scale stochastic high-order feedforward systems with multi time delays
- Distributed practical output tracking of high-order stochastic multi-agent systems with inherent nonlinear drift and diffusion terms
- Adaptive partial-state feedback control for stochastic high-order nonlinear systems with stochastic input-to-state stable inverse dynamics
- Distributed proportional plus second-order spatial derivative control for distributed parameter systems subject to spatiotemporal uncertainties
- Reduced-order observer-based backstepping tracking control for a class of stochastic nonlinear systems
- Adaptive tracking control for stochastic mechanical systems with actuator nonlinearities
- Nonlinear control of systems with multiple equilibria and unknown sinusoidal disturbance
- Further results on adaptive state-feedback stabilization for stochastic high-order nonlinear systems
- Global asymptotic output feedback stabilization for a class of stochastic high-order planar systems
- Stability of uncertain systems using Lyapunov functions with non-monotonic terms
- Cooperative control of multiple stochastic high-order nonlinear systems
- Global output-feedback stabilization for a class of stochastic non-minimum-phase nonlinear systems
- Adaptive stabilization of stochastic nonholonomic systems with nonlinear parameterization
- Decentralized risk-sensitive controller design for strict-feedback systems
- Stabilization and disturbance attenuation of nonlinear systems using dissipativity theory
- Adaptive extremum seeking control of fed-batch bioreactors
- A robust adaptive dynamic programming principle for sensorimotor control with signal-dependent noise
- Absolute stability criteria for a class of nonlinear singular systems with time delay
- Lyapunov tools for predictor feedbacks for delay systems: inverse optimality and robustness to delay mismatch
- Extremum-seeking control of state-constrained nonlinear systems
- Global stabilization of switched stochastic nonlinear systems in strict-feedback form under arbitrary switchings
- Controlled synchronization for chaotic systems via limited information with data packet dropout
- Periodic dynamics of delayed Lotka-Volterra competition systems with discontinuous harvesting policies via differential inclusions
- A new control framework for flapping-wing vehicles based on 3D pendulum dynamics
- Bounded and inverse optimal formation stabilization of second-order agents
- Robust control Minkowski-Lyapunov functions
- Prescribed-time control of stochastic high-order nonlinear systems
- On ℓ∞andL∞gains for positive systems with bounded time-varying delays
- Global output feedback stabilisation of stochastic high-order feedforward nonlinear systems with time-delay
- Adaptive observer-based control for a class of nonlinear stochastic systems
- A small-gain theorem for nonlinear stochastic systems with inputs and outputs. I: Additive white noise
- Distributed containment tracking of multiple stochastic nonlinear systems
- A homogeneous domination approach to state feedback of stochastic high-order feedforward nonlinear systems
- Finite-time state feedback stabilisation of stochastic high-order nonlinear feedforward systems
- Adaptive fuzzy tracking control for stochastic nonlinear systems with unknown time-varying delays
- Passivity analysis of discrete-time inverse optimal control for trajectory tracking
- State-feedback stabilization for a class of more general high order stochastic nonholonomic systems
- Coordinate independent adaptive attitude tracking control design for spacecraft robust to time-varying system uncertainties
- A complete parameterization of clf-based input-to-state stabilizing control laws
- Nonlinear generalization of scaled ?? control: global robustification against nonlinearly bounded uncertainties
- Global stabilization for a class of stochastic high-order feedforward nonlinear systems via homogeneous domination approach
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