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Logic-based switching control of nonlinear systems using high-gain observers
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
Michigan State University.
2007 (English)In: Automatica, ISSN 0005-1098, Vol. 43, no 1, 150-157 p.Article in journal (Refereed) Published
Abstract [en]

We consider output feedback stabilization of uniformly observable uncertain nonlinear systems when the uncertain parameters belong to a known but comparably large compact set. In a previous paper, we proposed a new logic-based switching control to improve the performance of continuous high-gain-observer-based sliding mode controllers. Our main goal here is to show that similar techniques can be exploited for solving challenging control problems for a more general class of uncertain nonlinear systems. We require neither the sign of the high-frequency gain to be known nor the system to be minimum-phase. The key idea is to split the set of parameters into smaller subsets, design a controller for each of them, and switch the controller if, after a dwell-time period, the derivative of the Lyapunov function does not satisfy a certain inequality. A high-gain observer is used to estimate the derivatives of the output as well as the derivative of the Lyapunov function. Another goal of this paper is to introduce a switching strategy that uses on-line information to decide on the controller to switch to, instead of using a pre-sorted list as in our previous work. The new strategy can improve the transient performance of the system.

Place, publisher, year, edition, pages
2007. Vol. 43, no 1, 150-157 p.
Keyword [en]
switching control, lyapunov design, high-gain observers, nonlinear uncertain systems, practical stabilization
URN: urn:nbn:se:umu:diva-30774DOI: 10.1016/j.automatica.2006.08.010OAI: diva2:286719
Available from: 2010-01-15 Created: 2010-01-15 Last updated: 2010-12-16Bibliographically approved

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Freidovich, Leonid
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