Title :
Robust constraint satisfaction for continuous-time nonlinear systems
Author :
Bürger, Mathias ; Guay, Martin
Author_Institution :
Dept. of Chem. Eng., Queen´´s Univ., Kingston, ON, Canada
Abstract :
A method to design feedback control laws that guarantee state-constraint satisfaction for a class of uncertain nonlinear systems is proposed. A recursive procedure is used to construct robustly controlled invariant sets for input affine nonlinear systems with bounded disturbances or parametric uncertainties. Constraint satisfaction is achieved by a modification of the control input on the boundaries of the constructed sets. The results are illustrated on a design example.
Keywords :
constraint theory; continuous time systems; feedback; nonlinear control systems; robust control; uncertain systems; bounded disturbances; continuous-time nonlinear systems; feedback control; input affine nonlinear systems; parametric uncertainties; robust constraint satisfaction; robustly controlled invariant sets; state-constraint satisfaction; uncertain nonlinear systems; Control systems; Design methodology; Feedback control; Nonlinear control systems; Nonlinear systems; Process control; Robust control; Robustness; Safety; Uncertainty;
Conference_Titel :
Decision and Control, 2008. CDC 2008. 47th IEEE Conference on
Conference_Location :
Cancun
Print_ISBN :
978-1-4244-3123-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2008.4739309
