Title :
Global stabilization and convergence of nonlinear systems with uncertain exogenous dynamics
Author_Institution :
Dept. of Electr. & Comput. Eng., Univ. of Central Florida, Orlando, FL, USA
Abstract :
In this note, a class of nonlinear uncertain systems are considered, and uncertainties in the systems are assumed to be generated by exogenous dynamics. Robust control is designed by employing nonlinear observers to estimate the uncertainties. It is shown that, if a partial knowledge of the exogenous system is available and its known dynamics meet certain conditions or if input channel of the plant has certain properties, global stability and global estimation convergence can be achieved. In the latter case, the results on stability and convergence hold even if exogenous dynamics are completely unknown but bounded by some known function.
Keywords :
Lyapunov methods; control system synthesis; nonlinear control systems; observers; robust control; uncertain systems; Lyapunov direct method; exogenous dynamics; global estimation convergence; global stability; nonlinear observers; nonlinear uncertain systems; robust control; Automatic control; Convergence; Linear systems; Nonlinear dynamical systems; Nonlinear systems; Polynomials; Robust control; Robust stability; Robustness; Uncertainty; Exosystem; Lyapunov direct method; robust control; uncertainty estimation;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2004.835591