Adaptive feedback passivity-based disturbance attenuation for switched nonlinearly parameterized systems

2016 ◽  
Vol 39 (12) ◽  
pp. 1811-1820 ◽  
Author(s):  
Hongbo Pang ◽  
Jun Zhao
Keyword(s):  
External Disturbance ◽  
Disturbance Attenuation ◽  
Feedback Controllers ◽  
Composite State ◽  
Adaptive Feedback ◽  
Switching Law ◽  
Parameterized Systems ◽  
State Dependent ◽  
Nonlinearly Parameterized Systems ◽  
Nonlinearly Parameterized

This paper investigates the adaptive feedback passification and disturbance attenuation problems for a class of switched nonlinearly parameterized systems. First, a state-dependent switching law and a set of adaptive feedback controllers with new control inputs are designed to render the resulting closed-loop system passive for a class of switched nonlinearly parameterized systems without external disturbance. Then, the new control inputs are designed to solve the disturbance attenuation problem. Second, a set of adaptive feedback controllers and a composite state-dependent switching law are designed to solve the adaptive feedback passivity-based disturbance attenuation problem for a class of cascaded switched nonlinearly parameterized systems. A numerical example shows the effectiveness of the proposed method.

Discrete Time-Coupled State-Dependent Riccati Equation Control of Nonlinear Mechatronic Systems

2020 ◽  
Vol 142 (8) ◽  
Author(s):  
Xin Wang
Keyword(s):  
Riccati Equation ◽  
Discrete Time ◽  
Disturbance Attenuation ◽  
Infinite Time ◽  
Mechatronic Systems ◽  
Feedback Controllers ◽  
Control Laws ◽  
State Dependent ◽  
Time Optimal ◽  
Nonlinear Plant

Abstract A discrete-time-coupled state-dependent Riccati equation (CSDRE) control strategy is structured in this paper for synthesizing state feedback controllers satisfying the combined nonlinear quadratic regulator (NLQR) and H∞ robust control performance objectives. Under smoothness assumptions, the nonlinear plant dynamics can be formulated into state-dependent coefficient form through direct parameterization. By solving a pair of coupled state-dependent Riccati equations, the optimal stabilizing solutions can achieve inherent stability, nonlinear quadratic optimality, and H∞ disturbance attenuation performance. The established two-player Nash's game theory is utilized for developing both of the finite and infinite time optimal control laws. Furuta swing-up pendulum, a representative nonholonomic underactuated nonlinear system, is stabilized in real-time for validating the robustness and potential of proposed approach in mechatronics applications.

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