Incremental passivity-based H∞ output tracking control for switched nonlinear systems

2019 ◽  
Vol 41 (13) ◽  
pp. 3600-3611
Author(s):  
Shuo Liu ◽  
Hongbo Pang ◽  
Chensong Li
Keyword(s):  
Nonlinear Systems ◽  
Tracking Control ◽  
Switched System ◽  
Switched Nonlinear Systems ◽  
Feedback Controllers ◽  
External Disturbances ◽  
Switching Law ◽  
Output Tracking ◽  
Output Tracking Control ◽  
State Dependent

This paper is concerned with the problem of H∞ output tracking control for a class of switched nonlinear systems with external disturbances using incremental passivity, even if the problem of H∞ output tracking control for none of subsystems is solvable. First, an incremental passivity concept of switched nonlinear systems without external disturbances is proposed. This incremental passivity property requires each active subsystem is incrementally passive. Then, sufficient conditions to be incrementally passive are given. Second, by resorting to the established incremental passivity theory, a state-dependent switching law and a set of feedback controllers are designed to solve the problem of H∞ output tracking control for a class of switched nonlinear systems with external disturbances. This avoids solving Hamilton-Jacobi (HJ) inequality. Third, a composite state-dependent switching law and the state feedback controllers are designed to solve the H∞ output tracking problem for a class of cascaded switched nonlinear systems with external disturbances. The designed composite switching law allows the driven switched system and the driving switched system switch asynchronously. Finally, two examples are provided to verify the effectiveness of the proposed method.

Output tracking control of switched nonlinear systems with multiple time-varying delays

2018 ◽  
Vol 49 (11) ◽  
pp. 2373-2384 ◽  
Author(s):  
L. Susana Ramya ◽  
R. Sakthivel ◽  
A. Leelamani ◽  
P. Dhanalakshmi ◽  
N. Sakthivel
Keyword(s):  
Nonlinear Systems ◽  
Tracking Control ◽  
Multiple Time ◽  
Time Varying ◽  
Switched Nonlinear Systems ◽  
Output Tracking ◽  
Output Tracking Control

Incremental passivity and stabilization for switched nonlinear systems

2020 ◽  
Vol 42 (11) ◽  
pp. 2088-2102
Author(s):  
Hongbo Pang ◽  
Chensong Li
Keyword(s):  
Nonlinear System ◽  
Nonlinear Systems ◽  
State Feedback ◽  
Energy Change ◽  
Relative Degree ◽  
Switched Nonlinear Systems ◽  
Feedback Controllers ◽  
Switching Law ◽  
State Dependent ◽  
Switched Nonlinear System

This paper studies the problems of incremental passivity, incremental passification and incremental stabilization for a switched nonlinear system. First, an incremental passivity concept for switched nonlinear systems is proposed. Each subsystem is only required to be incrementally passive, when it is active. The energy change of each inactive subsystem is charaterized. Then, a sufficient condition for such a system to be incrementally passive is given. Second, a state-dependent switching law and state feedback controllers are designed to render a system with relative degree one incrementally passive. Third, we show that an incrementally passive switched nonlinear system can be incrementally stabilized under some constraints on the energy change of inactive subsystems. In particular, a recursive feedback incremental passification design technique is adopted to achieve the incremental stability for a switched nonlinear system with any same relative degree by designing a set of feedback controllers and a state-dependent switching law, constructively. Finally, two examples are provided to verify the effectiveness of the proposed theory.

Robust Output Tracking Control for a Class of Uncertain Switched Nonlinear Systems

2013 ◽  
Vol 135 (3) ◽  
Author(s):  
Xiao X. Dong ◽  
Jun Zhao
Keyword(s):  
Nonlinear Systems ◽  
Tracking Control ◽  
Control Method ◽  
Design Method ◽  
Average Dwell Time ◽  
Variable Structure ◽  
Linear Matrix ◽  
Switched Nonlinear Systems ◽  
Output Tracking ◽  
Output Tracking Control

This paper is devoted to the problem of robust output tracking control for uncertain cascade switched nonlinear systems with external disturbances. A sufficient condition for the output tracking problem of switched systems to be solvable is given in terms of the average dwell-time scheme and linear matrix inequalities where no solvability of the output tracking control problem for all subsystems is assumed. The controllers are designed based on a variable structure control method in order to conquer the uncertainties. Simulations illustrate the effectiveness of the proposed robust tracking design method.

Optimal Output Tracking Control for Nonlinear Systems with External Disturbances Based on Stability Degree Constraint

2012 ◽  
Vol 433-440 ◽  
pp. 4662-4668
Author(s):  
De Xin Gao ◽  
Rui Wei ◽  
Bao Tong Cui ◽  
Bao Lin Zhang
Keyword(s):  
Nonlinear Systems ◽  
Tracking Control ◽  
External Disturbances ◽  
Output Tracking ◽  
Stability Degree ◽  
Optimal Output ◽  
Output Tracking Control ◽  
Degree Constraint ◽  
Mean Square Convergence ◽  
The Cost

This paper considers the optimal output tracking control problem for nonlinear systems affected by external disturbances based on stability degree constraint. The objective is to find an optimal output tracking controller, by which the cost function minimum and the state with the optimal having a higher mean-square convergence rate can be obtained. An optimal output tracking law is derived from a Riccati equation and Matrix equations. We give the existence and uniqueness conditions of the control law. Finally, a practical example is given to illustrate the effectiveness of the theory.

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