{"title":"Multiple-dynamic-scaling output-feedback control for uncertain strict-feedback-like systems with input unmodeled dynamics","authors":"P. Krishnamurthy, F. Khorrami","doi":"10.1109/ACC.2015.7171140","DOIUrl":null,"url":null,"abstract":"A general class of uncertain strict-feedback-like nonlinear systems with dynamic input nonlinearities is considered. The addressed nonlinear system structure can be viewed as a nominal system of strict-feedback-like form with its input signal given by an uncertain nonlinear function coupled with an uncertain nonlinear time-varying input unmodeled dynamics. The proposed controller is based on a scaling-based redesign of the dual dynamic high-gain scaling based output-feedback control design for strict-feedback-like systems. The scaling-based redesign introduces a dynamic state extension and an additional dynamic scaling based on a singular-perturbation-like structure to address the nonlinear uncertain dynamic input perturbation. The proposed approach provides a globally stabilizing output-feedback control design that is robust to the uncertain input unmodeled dynamics and functional and parameteric uncertainties allowed in the system structure.","PeriodicalId":223665,"journal":{"name":"2015 American Control Conference (ACC)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2015-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 American Control Conference (ACC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ACC.2015.7171140","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 2
Abstract
A general class of uncertain strict-feedback-like nonlinear systems with dynamic input nonlinearities is considered. The addressed nonlinear system structure can be viewed as a nominal system of strict-feedback-like form with its input signal given by an uncertain nonlinear function coupled with an uncertain nonlinear time-varying input unmodeled dynamics. The proposed controller is based on a scaling-based redesign of the dual dynamic high-gain scaling based output-feedback control design for strict-feedback-like systems. The scaling-based redesign introduces a dynamic state extension and an additional dynamic scaling based on a singular-perturbation-like structure to address the nonlinear uncertain dynamic input perturbation. The proposed approach provides a globally stabilizing output-feedback control design that is robust to the uncertain input unmodeled dynamics and functional and parameteric uncertainties allowed in the system structure.