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Asymptotic regulation problem of nonlinear systems with of iISS unmodeled dynamics

Author: YuJiangBo
Tutor: WuYuQiang
School: Qufu Normal University
Course: Operational Research and Cybernetics
Keywords: Nonlinear systems unmodeled dynamics iISS ISS unknown control direction Nussbaum-type gain state feedback
CLC: O231.2
Type: Master's thesis
Year: 2009
Downloads: 42
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Abstract


Set-point regulation problem via nonlinear state feedback for a class of nonlinear systems with integral input-to-state stable （ISS' dissertation">iISS） unmodeled dynamics, and state feedback regulation problem for a class of nonlinear systems with iISS unmodeled dynamics and unknown control direction are mainly investigated in this thesis, which is divided into the following two parts.1. The set-point regulation problem via nonlinear state feedback for a class of nonlinear systems with iISS unmodeled dynamics.Consider the following single-input-single-output（SISO） nonlinear systemwhere u∈R,y∈R are the control and the output,ξ=（ξ1,ξ2,…,ξn）T∈Rn is the measurable state vector andη∈Rn0 is not assumed to be measurable. For eachφiT:Ri→Rnθ（i=1,2,…,n,）,φi is a known smooth function, q（·） andθ:Rn0×R→Rnθ areuncertain functions. For the sake of existence and uniqueness of solutions, the uncertain functions q（·）,θ（·）are locally Lipschitz. Theη-system referred to as unmodeled dynamics is integral input-to-state stable.The control objective of this part is to design a state feedback controller under some assumptions such that all the signals in the closed-loop system are bounded and the tracking error converges to zero.2. The regulation problem via state feedback for a class of nonlinear systems with unknown control directions and iISS unmodeled dynamics.Consider the following single-input-single-output （SISO） system with the unmodeled dy- namics in this partwhere u∈R,y∈R are the control input and the output,ξ=（ξ1, ... ,ξn）T∈Rn is the measurable state vector andη∈Rn0 is not assumed to be measurable. Eachφi（·） （i = 1,2, ... , n） andθ（·）satisfy the same assumptions as 1. The time-varying function gi（t）∈Ii=[li-,li+] and 0 （?） Ii （i = 1,2, ... , n）.The control objective of this part is to design a state feedback controller under some assumptions such that all the signals in the closed-loop system are bounded and specially the states converge to zero.

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CLC: > Mathematical sciences and chemical > Mathematics > Control theory, information theory ( mathematical theory ) > Cybernetics ( control theory, mathematical theory ) > Nonlinear control systems
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