Title :
Dynamic scaling based global output feedback for systems with input uncertainties via a singular perturbation redesign
Author :
Krishnamurthy, P. ; Khorrami, F.
Author_Institution :
Dept. of ECE, Polytech. Inst. of NYU, Brooklyn, OH, USA
Abstract :
A general class of uncertain nonlinear systems with time-varying and uncertain state and input delays is considered. The system structure includes a core nominal system of triangular structure along with uncertain appended dynamics driven by the entire state of the system. The control input is allowed to enter non-affinely into the system dynamics as well as to have uncertainties coupled with it. 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 into the system dynamics. The proposed approach yields a delay-independent robust adaptive output-feedback control design. The only information about the time delays that is required in the control implementation is a bound on the rate of variation of time delays.
Keywords :
adaptive control; control system synthesis; delay systems; feedback; nonlinear control systems; observers; perturbation techniques; robust control; time-varying systems; uncertain systems; core nominal system; delay-independent robust adaptive output-feedback control design; dual controller; dynamic scaling; global output feedback; input uncertainty; observer; singular perturbation redesign; singular-perturbation-like redesign; system dynamics; time delays; time-varying state; triangular structure; uncertain appended dynamics; uncertain nonlinear system; Artificial neural networks; Delay effects; Linear matrix inequalities; Lyapunov method; Nonlinear dynamical systems; Observers; Stability analysis;
Conference_Titel :
Decision and Control (CDC), 2010 49th IEEE Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
978-1-4244-7745-6
DOI :
10.1109/CDC.2010.5718188