A general invariance principle for nonlinear time-varying systems and its applications

Author

Lee, Ti-Chung ; Liaw, Der-Cherng ; Chen, Bor-Sen

Author_Institution

Dept. of Electr. Eng., Ming Hsin Inst. of Technol., Hsinchu, Taiwan

Volume

46

Issue

12

fYear

2001

fDate

12/1/2001 12:00:00 AM

Firstpage

1989

Lastpage

1993

Abstract

A general invariance principle, from the output-to-state point of view, is proposed for the dynamical analysis of nonlinear time-varying systems. This is achieved by the construction of a simple and intuitive criterion using integral inequality of the output function and modified detectability conditions. The proposed scheme can be viewed as an extension of the integral invariance principle (C.I. Byrnes and C.F. Martin, 1995) for time-invariant systems to time-varying systems. Such extension is nontrivial and can be used in various research areas such as adaptive control, tracking control and the control of driftless systems. An application to global tracking control of four-wheeled mobile robots is given to demonstrate the feasibility and validity of the proposed approach

Keywords

invariance; mobile robots; nonlinear systems; time-varying systems; adaptive control; driftless systems; dynamical analysis; four-wheeled mobile robots; general invariance principle; global tracking control; integral inequality; integral invariance principle; intuitive criterion; invariance principle; mobile robots; modified detectability conditions; nonlinear time-varying systems; output function; output-to-state point of view; research areas; time-invariant systems; time-varying systems; tracking control; Adaptive control; Control engineering; Control systems; Councils; Equations; Lyapunov method; Mobile robots; Stability analysis; Stability criteria; Time varying systems;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.975506

Filename

975506