Title :
A Singular Perturbation Based Global Dynamic High Gain Scaling Control Design for Systems With Nonlinear Input Uncertainties
Author :
Krishnamurthy, P. ; Khorrami, F.
Author_Institution :
Dept. of Electr. & Comput. Eng., Polytech. Inst. of NYU, Brooklyn, NY, USA
Abstract :
A general class of uncertain nonlinear systems with input nonlinearities is considered. The system structure includes a core nominal system of triangular structure with additive uncertain nonlinear functions. The control input is allowed to enter non-affinely into the system dynamics as well as to have uncertainties coupled with it in terms of an uncertain nonlinear function of the input and output. The control design is based on dual controller/observer dynamic high-gain scaling with an additional dynamic scaling based on a singular-perturbation-like redesign to address the non-affine and uncertain nature of the input appearance into the system dynamics. The proposed approach yields a global robust adaptive output-feedback control design.
Keywords :
adaptive control; control system synthesis; feedback; nonlinear control systems; observers; robust control; uncertain systems; core nominal system; dual controller-observer; global dynamic high gain scaling control design; nonlinear input uncertainties system; robust adaptive output feedback control design; singular perturbation; triangular structure; uncertain nonlinear functions; uncertain nonlinear systems; Control design; Linear matrix inequalities; Lyapunov methods; Nonlinear dynamical systems; Observers; Stability analysis; Uncertainty; Feed-forward systems; high gain; non-affine; nonlinear systems; output feedback; scaling; singular perturbation;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2013.2257968