Global Stabilization of Nonlinear Systems with Inputs Subject to Magnitude and Rate Bounds: A Parametric Optimization Approach
A bounded feedback control design approach is proposed for the global asymptotic stabilization of a class of nonlinear systems with stable free dynamics. The control inputs and their derivatives are constrained to take values on sets defined by a Cartesian product of $\eta $-dimensional closed balls...
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| Vydáno v: | SIAM journal on control and optimization Ročník 39; číslo 3; s. 682 - 706 |
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| Hlavní autoři: | , , |
| Médium: | Journal Article |
| Jazyk: | angličtina |
| Vydáno: |
Philadelphia
Society for Industrial and Applied Mathematics
2000
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| Témata: | |
| ISSN: | 0363-0129, 1095-7138 |
| On-line přístup: | Získat plný text |
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| Shrnutí: | A bounded feedback control design approach is proposed for the global asymptotic stabilization of a class of nonlinear systems with stable free dynamics. The control inputs and their derivatives are constrained to take values on sets defined by a Cartesian product of $\eta $-dimensional closed balls $\mathcal{B}_{\mathbf{r}}^{\eta }(p)$, which are defined by means of a p-norm and a radius vector parameter $\mathbf{r}$. In order to derive the bounded control stabilizer, the resulting procedure implies that gains (as state-functions) are obtained from the solution to a set of c -parameterized nonlinear programming problems. In general, the resulting closed-loop system could be implicitly defined, i.e., consisting of a system of differential equations plus a set of nonlinear algebraic equations (required to compute the control). Special interest is focused on an important class of homogeneous systems that includes a class of globally asymptotically stabilizable systems by linear feedback and bilinear systems. For those systems, the problem of inputs subject to globally bounded rates is also addressed. |
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| Bibliografie: | ObjectType-Article-1 SourceType-Scholarly Journals-1 content type line 14 |
| ISSN: | 0363-0129 1095-7138 |
| DOI: | 10.1137/S0363012997330233 |