Title

Lyapunov Direct Design Of Robust-Control For Electrical-Mechanical Systems Composed Of Cascaded Nonlinear Uncertain Subsystems

Authors

Authors

Z. H. Qu;D. M. Dawson

Comments

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Abbreviated Journal Title

J. Dyn. Syst. Meas. Control-Trans. ASME

Keywords

ULTIMATE BOUNDEDNESS; MATCHING ASSUMPTIONS; DYNAMICAL-SYSTEMS; ABSENCE; Automation & Control Systems; Instruments & Instrumentation

Abstract

Robust control design of nonlinear uncertain systems is investigated. A system under consideration consists of finite nonlinear systems which are cascaded and have significant uncertainties. Such a system arises naturally from many real physical systems, especially mechanical systems. An important feature of these systems is that they do not satisfy the assumption of the standard matching conditions required by most existing robust control results. General classes of cascaded uncertain systems are identified for which robust controllers are obtained explicitly in terms of the bounding functions of the uncertainties. The resulting robust controllers guarantee stability of global uniform ultimate boundedness or global exponential convergence to zero. The controls are designed by a two-step systematic design procedure. First, design fictitious robust controllers for input of individual subsystem as if every subsystem had an independent control. Then, a recursive mapping is proposed which maps the individual fictitious controls recursively into the only control of the overall system.

Journal Title

Journal of Dynamic Systems Measurement and Control-Transactions of the Asme

Volume

117

Issue/Number

1

Publication Date

1-1-1995

Document Type

Article

Language

English

First Page

54

Last Page

62

WOS Identifier

WOS:A1995QT27700008

ISSN

0022-0434

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