Dynamic surface control design for a class of nonlinear systems

Author

Song, Bongsob ; Howell, Adam ; Hedrick, Karl

Author_Institution

Dept. of Mech. Eng., California Univ., Berkeley, CA, USA

Volume

3

fYear

2001

fDate

2001

Firstpage

2797

Abstract

A novel method for analyzing the controller gains and filter time constants of dynamic surface control (DSC) is presented. First, DSC provides linear closed loop error dynamics with bounded perturbation terms for a class of nonlinear systems. This can be used to assign the desired eigenvalues to the system matrix of the error dynamics for the nominal stability. Then, a procedure for testing the stability and performance of the fixed controller in the face of uncertainties is presented. Finally, a feasible quadratic Lyapunov function for a regulation problem and an ellipsoidal approximation of tracking error bounds are obtained via convex optimization

Keywords

Lyapunov methods; closed loop systems; convex programming; eigenvalues and eigenfunctions; nonlinear control systems; perturbation techniques; stability; DSC; bounded perturbation terms; controller gains; convex optimization; dynamic surface control design; eigenvalues; ellipsoidal approximation; error dynamics; feasible quadratic Lyapunov function; filter time constants; fixed controller; linear closed loop error dynamics; nominal stability; nonlinear systems; regulation problem; system matrix; tracking error bounds; Backstepping; Control design; Eigenvalues and eigenfunctions; Filters; Nonlinear dynamical systems; Nonlinear systems; Robust control; Sliding mode control; Stability analysis; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2001. Proceedings of the 40th IEEE Conference on

Conference_Location

Orlando, FL

Print_ISBN

0-7803-7061-9

Type

conf

DOI

10.1109/.2001.980697

Filename

980697