Global output‐feedback control of systems with dynamic nonlinear input uncertainties through singular perturbation‐based dynamic scaling. (28th September 2015)

• Record Type: Journal Article
• Authors: Krishnamurthy, P.; Khorrami, F.
• Is Part Of: International journal of adaptive control and signal processing. Volume 30:Number 5(2016:May)
• Page Start: 690
• Page End: 714
• Publication Date: 2015-09-28
• Subjects: dynamic output feedback -- adaptive control -- robust control -- high‐gain feedback -- nonlinear control systems -- observers; Adaptive control systems -- Periodicals; Adaptive signal processing -- Periodicals; 629.836
• DOI: 10.1002/acs.2628
• Languages: English
• ISSNs: 0890-6327

Abstract

Summary: 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.