Title :
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
fDate :
12/1/2001 12:00:00 AM
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;
Journal_Title :
Automatic Control, IEEE Transactions on
