Semi-global finite-time output feedback stabilization for a class of large-scale uncertain nonlinear systems

This paper addresses the problem of semi-global finite-time decentralized output feedback control for large-scale systems with both higher-order and lower-order terms. A new design scheme is developed by coupling the finite-time output feedback stabilization method with the homogeneous domination approach. Specifically, we first design a homogeneous observer and an output feedback control law for each nominal subsystem without the nonlinearities. Then, based on the homogeneous domination approach, we relax the linear growth condition to a polynomial one and construct decentralized controllers to render the nonlinear system semi-globally finite-time stable.     

Output feedback control for MIMO nonlinear systems using factorization

A new output feedback adaptive control scheme for multi-input and multi-output (MIMO) nonlinear systems is presented based on the high frequency gain matrix factorization and the backstepping approach with vector form. The only required prior knowledge about the high frequency gain matrix of the linear part of the system is the signs of its leading principal minors. The proposed controller is a dynamic one that only needs the measurement of the system output, and the observer and the filters are introduced in order to construct a virtual estimate of the unmeasured system states. The global stability of the closed-loop systems is guaranteed through this control scheme, and the tracking error converges to zero. Finally, the numerical simulation results illustrate the effectiveness of the proposed scheme.     

Stability analysis for uncertain nonlinear switched systems with infinite-time domain

Fuzzy Optimization and Decision Making - In this paper, an uncertain nonlinear switched system is a nonlinear switched system disturbed by subjective uncertainties, which can be illustrated by...     

Output feedback stabilization for planar switched nonlinear systems with asymmetric output constraints

In this paper, smooth output feedback controllers are presented to stabilize a class of planar switched nonlinear systems with asymmetric output constraints (AOCs). A new common barrier Lyapunov function (CBLF) is developed to prevent the switched system from violating AOCs. Combining the adding a power integrator technique (APIT) and the CBLF, state feedback controllers are designed. Then, reduced-order nonlinear observers are constructed and smooth output feedback controllers are proposed to globally stabilize planar switched nonlinear systems under arbitrary switchings. Meanwhile, the system output meets the prescribed AOCs during operation. The method proposed in this paper is a unified tool because it works not only for switched nonlinear systems with asymmetric or symmetric output constrains but also for those without output constraints. Simulations are presented to verify the proposed method.     

Composite nonlinear feedback based discrete integral sliding mode controller for uncertain systems

In this paper, a discrete integral sliding mode (ISM) controller based on composite nonlinear feedback (CNF) method is proposed. The aim of the controller is to improve the transient performance of uncertain systems. The CNF based discrete ISM controller consists of a linear and a nonlinear term. The linear control law is used to decrease the damping ratio of the closed-loop system for yielding a quick transient response. The nonlinear feedback control law is used to increase the damping ratio with an aim to reduce the overshoot of the closed-loop system as it approaches the desired reference position. It is observed that the discrete CNF-ISM controller produces superior transient performance as compared to the discrete ISM controller. The closed-loop control system remains stable during the sliding condition. Simulation results demonstrate the effectiveness of the proposed controller.     

Output feedback stabilization for a class of nonlinear time-evolution systems

A variety of problems in nonlinear time-evolution systems such as communication networks, computer networks, manufacturing, traffic management, etc., can be modelled as min–max-plus systems in which operations of min, max and addition appear simultaneously. Systems with only maximum (or minimum) constraints can be modelled as max-plus system and handled by max-plus algebra which changes the original nonlinear system in the traditional sense into linear system in this framework. Min-max-plus systems are extensions of max-plus systems and nonlinear even in the max-plus algebra view. Output feedback stabilization for min–max-plus systems with min–max-plus inputs and max-plus outputs is considered in this paper. Max-plus projection representation for the closed-loop system with min–max-plus output feedback is introduced and the formula to calculate the cycle time is presented. Stabilization of reachable systems with at least one observable state and a further result for reachable and observable systems are worked out, during which max-plus output feedbacks are used to stabilize the systems. The method based on the max-plus algebra is constructive in nature.     

Adaptive stabilization of uncertain unified chaotic systems with nonlinear input

This paper addresses the problem of adaptive stabilization of uncertain unified chaotic systems with nonlinear input in the sector form. A novel representation of nonlinear input function, that is, a linear input with bounded time-varying coefficient, is firstly established. Then, an adaptive control scheme is proposed based on the new nonlinear input model. By using Barbalat’s lemma, the asymptotic stability of the closed-loop system is proved in spite of system uncertainties, external disturbance and input nonlinearity. One of the advantages of the proposed design method is that the prior knowledge on the plant parameter, the bound parameters of the uncertainties and the slope parameters inside the sector nonlinearity is not required. Finally, numerical simulations are performed to verify the analytical results.     

Decentralized robust control for a class of uncertain large-scale interconnected nonlinear dynamical systems

The problem of the decentralized robust control for a class of large-scale interconnected nonlinear dynamical systems with input interconnection and external interconnection perturbations is considered. Based on the stabilizability of each nominal isolated subsystem (i.e., the isolated subsystem in the absence of interconnection perturbations), a class of decentralized local state feedback controllers is proposed, and some sufficient conditions are derived by making use of the Lyapunov stability criterion such that uncertain large-scale interconnected systems can be stabilized asymptotically by these decentralized state feedback controllers. For large-scale systems with only input interconnection perturbations, such decentralized controllers become a class of decentralized stabilizing state feedback controllers. That is, the decentralized stability of such large-scale systems can be guaranteed always by using the decentralized state feedback controllers proposed in the paper. Finally, a numerical example is given to demonstrate the validity of the results.     

Adaptive-observer-based output-constrained tracking of a class of arbitrarily switched uncertain non-affine nonlinear systems

This paper addresses an adaptive output-feedback tracking problem of arbitrarily switched pure-feedback nonlinear systems with time-varying output constraints and unknown control directions. In this work, the tracking problem of switched non-affine nonlinear systems with output constraints is transformed into the stabilization problem of switched unconstrained affine systems. The main contribution of this paper is to present a universal formula for constructing an adaptive state-observer-based tracking controller with only two adaptive parameters by using the common Lyapunov function method. These adaptive parameters in the proposed control scheme are derived using the function approximation technique and a priori knowledge of the signs of control gain functions is not required. The theoretical analysis is presented for the Lyapunov stability and the constraint satisfaction of the resulting closed-loop system in the presence of arbitrary switchings.     

基于PI控制器的不确定广义系统的非脆弱耗散控制

主要研究了一类不确定广义系统的耗散控制问题,基于线性矩阵不等式的处理方法给出了使广义系统容许且严格耗散的充要条件,并利用线性矩阵不等式的解给出了耗散控制器的设计方法,得到了一个具有非脆弱性的状态反馈PI控制器的显示表达,使得对所允许的不确定性闭环广义系统容许且严格耗散.最后用数值例子说明了所提出方法的正确性和有效性.     

On the Cauchy problem for nonlinear dissipative systems

The large-time asymptotic behavior of solutions of the Cauchy problem for a system of nonlinear evolutionary equations with dissipation is studied. The approach used in the case of small initial data is based on the construction of solutions by the method of contracting mappings. In the case of large initial data, we will obtain the large-time asymptotics of solutions with a certain symmmetry of a nonlinear term taken into account. In the critical case, it is proved that if the initial data has a nonzero total mass, then the principal term of the large-time asymptotics of a solution is given by the self-similar solution uniquely determined by the total mass of the initial data. __________ Translated from Sovremennaya Matematika i Ee Prilozheniya (Contemporary Mathematics and Its Applications), Vol. 29, Voronezh Conference-1, 2005.     

State feedback and output feedback control of a class of nonlinear systems with delayed measurements

This paper is concerned with the problem of state feedback and output feedback control of a class of nonlinear systems with delayed measurements. This class of nonlinear systems is made up of continuous-time linear systems with nonlinear perturbations. The nonlinearity is assumed to satisfy a global Lipschitz condition and the time delay is assumed to be time-varying and have no restriction on its derivative. On the basis of the Lyapunov–Krasovskii approach, sufficient conditions for the existence of the state feedback controller and the output feedback controller are derived in terms of linear matrix inequalities. Methods of calculating the controller gain matrices are also presented. Two numerical examples are given to illustrate the effectiveness of the proposed methods.     

Finite attraction for nonlinear uncertain mechanical systems

This paper deals with the robust control problem for uncertainnonlinear mechanical systems with ideal and holonomic constraints.A robust control law having the form of state feedback is obtained.The control law consists of two parts: the first one is a nominalcontrol law which affects the behaviour of the nominal dynamicsfor the considered mechanical system; the second one is a learningcontrol law which reduces the influence of uncertainties onthe stability of the mechanical system. Under the action ofthe robust control law, the closed-loop system for the uncertainmechanical system reaches a region specified a short time inadvance.     

Output feedback guaranteed cost control of uncertain linear discrete systems with interval time-varying delays

This paper deals with output feedback guaranteed cost control problem for a general class of uncertain linear discrete delay systems, where the state and the observation output are subjected to interval time-varying delay. The proposed output feedback controller uses the observation measurement to exponentially stabilize the closed-loop system and guarantee an adequate level of system performance. By constructing a set of augmented Lyapunov–Krasovskii functionals, a delay-dependent condition for the robust output feedback guaranteed cost control is established in terms of linear matrix inequalities (LMIs). Three numerical examples are provided to demonstrate the efficiency of the proposed method.     

Stability to weakly dissipative Timoshenko systems

In this paper, we consider the Timoshenko systems with frictional dissipation working only on the vertical displacement. We prove that the system is exponentially stable if and only if the wave speeds are the same. On the contrary, we show that the Timoshenko systems is polynomially stable giving the optimal decay rate. Copyright © 2013 John Wiley & Sons, Ltd.     

Stability of uncertain discrete systems

The uncertain system

$x_{n + 1} = A_n x_n , n = 0,1,2, \ldots ,$

is considered, where the coefficients a _ij (n) of the m×m matrix A _n are functionals of any nature subject to the constraints

$\begin{array}{*{20}c} {\left| {a_{i,i} (n)} \right| \leqslant \alpha _ * < 1,} \\ {\left| {a_{i,j} (n)} \right| \leqslant \alpha _0 for j \geqslant i + 1,} \\ {\left| {a_{i,j} (n)} \right| \leqslant \delta for j < i.} \\ \end{array} $

Such systems include, in particular, switched-type systems, whose matrix A can take values in a given finite set.By using a special Lyapunov function, a bound δ ≤ δ(α₀,α_*) ensuring the global asymptotic stability of the system is found. In particular, the system is stable if the last inequality is replaced by a _i,j (n) = 0 for j < i.It is shown that pulse-width modulated systems reduce to the uncertain systems under consideration; moreover, in the case of a pulse-width modulation of the first kind, the coefficients of the matrix A are functions of x(n), and in the case of a modulation of the second kind, they are functionals.     

Computing reachable sets for uncertain nonlinear monotone systems

We address nonlinear reachability computation for uncertain monotone systems, those for which flows preserve a suitable partial orderings on initial conditions. In a previous work Ramdani (2008) [22], we introduced a nonlinear hybridization approach to nonlinear continuous reachability computation. By analysing the signs of off-diagonal elements of system’s Jacobian matrix, a hybrid automaton can be obtained, which yields component-wise bounds for the reachable sets. One shortcoming of the method is induced by the need to use whole sets for addressing mode switching. In this paper, we improve this method and show that for the broad class of monotone dynamical systems, component-wise bounds can be obtained for the reachable set in a separate manner. As a consequence, mode switching no longer needs to use whole solution sets. We give examples which show the potentials of the new approach.     

On output feedback control of singularly perturbed systems

We treat the problem of robustness of output feedback controllers with respect to singular perturbations. Given a singularly perturbed control system whose boundary layer system is exponentially stable and whose reduced order system is exponentially stabilizable via a (possibly dynamical) output feedback controller, we present a sufficient condition which ensures that the system obtained by applying the same controller to the original full order singularly perturbed control system is exponentially stable for sufficiently small values of the perturbation parameter. This condition, which is less restrictive than those previously given in the literature, is shown to be always satisfied when the singular perturbation is due to the presence of fast actuators and/or sensors. Furthermore, we show explicitly that, in the linear time-invariant case, if this condition is not satisfied then there exists an output feedback controller which stabilizes the reduced order system but destabilizes the full order system.