Title :
Simple robust stabilisation of nonlinear systems
Author :
Yfoulis, C.A. ; Muir, A. ; Pettit, N.B.O.L. ; Wellstead, P.E.
Author_Institution :
Control Syst. Centre, UMIST, Manchester, UK
fDate :
Aug. 31 1999-Sept. 3 1999
Abstract :
The robust stabilization problem is solved by constructing variable structure state-feedback control laws based on a conic partition of the state-space. The control Lyapunov function candidate and the conic partition are induced by a polyhedral region of interest. Nonlinear systems are approximated as piecewise affine in every sub-region of the partition. The partition has a simple and systematic form, and independent local design in a computationally tractable manner is possible. Piecewise-linear Lyapunov function candidates are used, which offer ease in addressing robustness to bounded uncertainties. Simple linear programming problems are utilized for computing controls offering optimal performance under control constraints and approximation errors.
Keywords :
Lyapunov methods; control system synthesis; linear programming; nonlinear control systems; piecewise linear techniques; stability; state feedback; state-space methods; variable structure systems; approximation errors; control Lyapunov function; control constraints; independent local design; linear programming problems; nonlinear systems; piecewise affine approximation; piecewise-linear Lyapunov function candidates; polyhedral region of interest; simple robust stabilisation; state-space conic partition; variable structure state-feedback control laws; Approximation methods; Asymptotic stability; Linear programming; Lyapunov methods; Nonlinear systems; Robustness; Uncertainty; PL-Lyapunov functions; hybrid systems; robust stabilization;
Conference_Titel :
Control Conference (ECC), 1999 European
Conference_Location :
Karlsruhe
Print_ISBN :
978-3-9524173-5-5
