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Invariance Control of a Class of Cascade Nonlinear Systems With Input Unmodeled Dynamics

[+] Author Affiliations
Caiyun Wu, Jun Zhao

Northeastern University, Shenyang, Liaoning, China

Georgi M. Dimirovski

Dogus University, Istanbul, TurkeySs Cyril & Methodius University, Skopje, Macedonia

Ruicheng Ma

Liaoning University, Shenyang, Liaoning, China

Paper No. DSCC2013-3722, pp. V003T34A001; 8 pages
doi:10.1115/DSCC2013-3722
From:
  • ASME 2013 Dynamic Systems and Control Conference
  • Volume 3: Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; System Identification (Estimation for Automotive Applications, Modeling, Therapeutic Control in Bio-Systems); Variable Structure/Sliding-Mode Control; Vehicles and Human Robotics; Vehicle Dynamics and Control; Vehicle Path Planning and Collision Avoidance; Vibrational and Mechanical Systems; Wind Energy Systems and Control
  • Palo Alto, California, USA, October 21–23, 2013
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5614-7
  • Copyright © 2013 by ASME

abstract

The paper addresses the invariance control for a class of cascade nonlinear systems with unmodeled dynamics appearing at the input. A sufficient condition for the robust invariance control of the system under consideration is derived. Based on the methods of passivity and switching control of states of the linear subsystem, both the stabilization of the linear subsystem and the positive invariance of the prespecified region in state space can be ensured. Under some additional assumptions, the whole system is semi-global asymptotically stable. A simulation example is given to demonstrate the effectiveness of the proposed design procedure.

Copyright © 2013 by ASME

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