Nonlinear robust hierarchical control for nonlinear uncertain systems

Mathematical Problems in Engineering

卷:5

关键词: Equilibria-dependent Lyapunov functions;    Robust nonlinear control;    Parametric Uncertainty;    Domains of attraction;    Hierarchical switching control;   

DOI  :  

来源: DOAJ

【 摘 要 】

A nonlinear robust control-system design framework predicated on a hierarchical switching controller architecture parameterized over a set of moving nominal system equilibria is developed. Specifically, using equilibria-dependent Lyapunov functions, a hierarchical nonlinear robust control strategy is developed that robustly stabilizes a given nonlinear system over a prescribed range of system uncertainty by robustly stabilizing a collection of nonlinear controlled uncertain subsystems. The robust switching nonlinear controller architecture is designed based on a generalized (lower semicontinuous) Lyapunov function obtained by minimizing a potential function over a given switching set induced by the parameterized nominal system equilibria. The proposed framework robustly stabilizes a compact positively invariant set of a given nonlinear uncertain dynamical system with structured parametric uncertainty. Finally, the efficacy of the proposed approach is demonstrated on a jet engine propulsion control problem with uncertain pressure-flow map data.

【 授权许可】

Unknown