Hybrid control for stabilization of a class of cascade nonlinear systems

Author

Rui, Chunlei ; Kolmanovsky, Ilya ; McClamroch, N. Harris

Author_Institution

Dept. of Aerosp. Eng., Michigan Univ., Ann Arbor, MI, USA

Volume

5

fYear

1997

fDate

4-6 Jun 1997

Firstpage

2800

Abstract

Presents a hybrid feedback control approach for stabilizing a class of cascade nonlinear systems to an equilibrium. The control architecture is a combination of nonlinear analog feedback and switched (sampled data) feedback, that, in a certain sense, feedback linearizes the closed loop at the analog time scale and at the time scale induced by the switching. Conditions for local asymptotic stability and global asymptotic stability of the equilibrium of the closed loop hybrid system are developed. The results are applied to the construction of hybrid controllers that stabilize a class of underactuated mechanical systems and a class of nonlinear nonminimum phase systems. In particular, a hybrid controller is developed and studied for the model of a rotational and translational actuator

Keywords

asymptotic stability; cascade control; closed loop systems; continuous time systems; feedback; linearisation techniques; nonlinear control systems; sampled data systems; cascade nonlinear systems; global asymptotic stability; hybrid feedback control approach; local asymptotic stability; nonlinear analog feedback; nonlinear nonminimum phase systems; rotational and translational actuator; stabilization; switched feedback; underactuated mechanical systems; Adaptive control; Bismuth; Control system synthesis; Control systems; Linear feedback control systems; Linear systems; Nonlinear control systems; Nonlinear equations; Nonlinear systems; State feedback;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1997. Proceedings of the 1997

Conference_Location

Albuquerque, NM

ISSN

0743-1619

Print_ISBN

0-7803-3832-4

Type

conf

DOI

10.1109/ACC.1997.611966

Filename

611966