Robust Constraint Satisfaction for Continuous-Time Nonlinear Systems in Strict Feedback Form

Author

Bürger, Mathias ; Guay, Martin

Author_Institution

Inst. for Syst. Theor. & Autom. Control, Univ. of Stuttgart, Stuttgart, Germany

Volume

55

Issue

11

fYear

2010

Firstpage

2597

Lastpage

2601

Abstract

This work is concerned with the design of feedback control laws that guarantee satisfaction of hard output constraints. A recursive procedure is used to derive sufficient conditions for robust constraint satisfaction in input affine nonlinear systems with bounded disturbances or parametric uncertainties. The control objective is achieved by a suitable switching between two control modes, one responsible for stabilization and one for constraint satisfaction.

Keywords

Lyapunov methods; continuous time systems; control system synthesis; feedback; nonlinear control systems; robust control; uncertain systems; Lyapunov stability; bounded disturbances; continuous-time nonlinear systems; feedback control laws; input affine nonlinear systems; parametric uncertainties; robust constraint satisfaction; strict feedback form; Backstepping; Control systems; Lyapunov method; Nonlinear control systems; Nonlinear systems; Output feedback; Postal services; Robustness; Safety; Strain control; Backstepping; Lyapunov stability; output constraints;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/TAC.2010.2061090

Filename

5523899