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

    Authors

    Z. H. Qu;D. M. Dawson

    Comments

    Authors: contact us about adding a copy of your work at STARS@ucf.edu

    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

    Share

    COinS