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Characterizing ℒ1$$ {\mathcal{L}}_1 $$ output‐feedback controller for nonlinear systems: Existence conditions via output controlled invariance domain

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Název: Characterizing ℒ1$$ {\mathcal{L}}_1 $$ output‐feedback controller for nonlinear systems: Existence conditions via output controlled invariance domain
Autoři: Hyung Tae Choi, Jung Hoon Kim, Tomomichi Hagiwara
Zdroj: International Journal of Robust and Nonlinear Control. 34:11760-11785
Informace o vydavateli: Wiley, 2024.
Rok vydání: 2024
Témata: 0209 industrial biotechnology, 0202 electrical engineering, electronic engineering, information engineering, 02 engineering and technology
Popis: SummaryMotivated by existing works on the state‐feedback controller for nonlinear systems, in which the norm of the output for the worst disturbance with a unit magnitude is required to be bounded by 1, this paper considers an extension of those works to an output‐feedback form. More precisely, the existence of an output‐feedback controller for nonlinear systems is characterized by developing output regulation map and output controlled invariance domain, which are extended versions of the conventional regulation map and controlled invariance domain in the previous works. We first lead to a sufficient condition for the existence of an output‐feedback controller by ensuring the lower‐semicontinuity of the corresponding output regulation map. It is also shown in this paper that there exists an output‐feedback controller only if there exists an output controlled invariance domain. Based on these conditions, we further introduce algorithmic guidelines for verifying the existence of output‐feedback controller. Finally, a numerical example is provided to verify the validity of the overall arguments developed in this paper.
Druh dokumentu: Article
Jazyk: English
ISSN: 1099-1239
1049-8923
DOI: 10.1002/rnc.7589
Rights: Wiley Online Library User Agreement
Přístupové číslo: edsair.doi...........a8bfaac1dd9ed252bd818d323e4f9e0f
Databáze: OpenAIRE
Popis
Abstrakt:SummaryMotivated by existing works on the state‐feedback controller for nonlinear systems, in which the norm of the output for the worst disturbance with a unit magnitude is required to be bounded by 1, this paper considers an extension of those works to an output‐feedback form. More precisely, the existence of an output‐feedback controller for nonlinear systems is characterized by developing output regulation map and output controlled invariance domain, which are extended versions of the conventional regulation map and controlled invariance domain in the previous works. We first lead to a sufficient condition for the existence of an output‐feedback controller by ensuring the lower‐semicontinuity of the corresponding output regulation map. It is also shown in this paper that there exists an output‐feedback controller only if there exists an output controlled invariance domain. Based on these conditions, we further introduce algorithmic guidelines for verifying the existence of output‐feedback controller. Finally, a numerical example is provided to verify the validity of the overall arguments developed in this paper.
ISSN:10991239
10498923
DOI:10.1002/rnc.7589