Global output‐feedback control of systems with dynamic nonlinear input uncertainties through singular perturbation‐based dynamic scaling |
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| Authors: | P Krishnamurthy F Khorrami |
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| Affiliation: | Control/Robotics Research Laboratory (CRRL), Department of Electrical and Computer Engineering, NYU Polytechnic School of Engineering, NYU, Brooklyn, NY 11201, USA |
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| Abstract: | A general class of uncertain nonlinear systems with dynamic input nonlinearities is considered. The system structure includes a core nominal subsystem of triangular structure with additive uncertain nonlinear functions, coupled uncertain nonlinear appended dynamics, and uncertain nonlinear input unmodeled dynamics. 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 in the system dynamics. The proposed approach yields a constructive global robust adaptive output‐feedback control design that is robust to the dynamic input uncertainties and to uncertain nonlinear functions allowed throughout the system structure. Copyright © 2015 John Wiley & Sons, Ltd. |
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| Keywords: | dynamic output feedback adaptive control robust control high‐gain feedback nonlinear control systems observers |
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