Robust-Control Of Cascaded And Individually Feedback Linearizable Nonlinear-Systems

    Authors

    Z. H. Qu;D. M. Dawson

    Comments

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    Abbreviated Journal Title

    Automatica

    Keywords

    PARTIALLY KNOWN SYSTEMS; ROBUST CONTROL; NONLINEAR CONTROL SYSTEMS; LINEARIZATION TECHNIQUES; LIE ALGEBRA; LYAPUNOV METHODS; UNCERTAIN DYNAMICAL-SYSTEMS; ROBOTIC MANIPULATOR; MATCHING CONDITIONS; TRACKING; Automation & Control Systems; Engineering, Electrical & Electronic

    Abstract

    Feedback linearization technique is applied to design robust controllers for a class of nonlinear uncertain systems. Every system in the class is a series connection of finite number of nonlinear subsystems which are individually feedback linearizable and have significant but matched nonlinear functional uncertainties. The key difference between this work and existing robust results is that the matching conditions and the existence of feedback linearization transformation are only required individually for each subsystem. A constructive robust control design procedure is proposed for the unique control in the overall system. The procedure is conceptually simple and contains three steps. First, perform input-output feedback linearization for all individual subsystems. Second, design fictitious robust controllers for inputs of each subsystem as if the subsystem had an independent control. Finally, a mapping is developed which maps the individual fictitious controls recursively into the unique control of the overall system. Since neither the matching conditions nor feedback linearization are required for the overall system, this becomes the broadest class of nonlinear uncertain (or known) Systems for which a robust (regular) tracking control can be constructed using feedback linearization method. Global stability of the overall system is always guaranteed.

    Journal Title

    Automatica

    Volume

    30

    Issue/Number

    6

    Publication Date

    1-1-1994

    Document Type

    Note

    Language

    English

    First Page

    1057

    Last Page

    1064

    WOS Identifier

    WOS:A1994NQ74600014

    ISSN

    0005-1098

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