Transformation of CLF to ISS-CLF for Nonlinear Systems with Disturbance and Construction of Nonlinear Robust Controller with L2 Gain Performance
A new nonlinear control law for a class of nonlinear systems with disturbance is proposed. A control law is designed by transforming control Lyapunov function (CLF) to input-to-state stability control Lyapunov function (ISS-CLF). The transformed CLF satisfies a Hamilton-Jacobi-Isaacs (HJI) equation....
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2014-01-01
|
| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2014/527893 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832555413730492416 |
|---|---|
| author | Keizo Okano Kojiro Hagino Hidetoshi Oya |
| author_facet | Keizo Okano Kojiro Hagino Hidetoshi Oya |
| author_sort | Keizo Okano |
| collection | DOAJ |
| description | A new nonlinear control law for a class of nonlinear systems with disturbance is proposed. A control law is designed by transforming control Lyapunov function (CLF) to input-to-state stability control Lyapunov function (ISS-CLF). The transformed CLF satisfies a Hamilton-Jacobi-Isaacs (HJI) equation. The feedback system by the proposed control law has characteristics of L2 gain. Finally, it is shown by a numerical example that the proposed control law makes a controller by feedback linearization robust against disturbance. |
| format | Article |
| id | doaj-art-35b3dbba6ddc4b5b9af97c8f7efb6610 |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-35b3dbba6ddc4b5b9af97c8f7efb66102025-02-03T05:48:18ZengWileyJournal of Control Science and Engineering1687-52491687-52572014-01-01201410.1155/2014/527893527893Transformation of CLF to ISS-CLF for Nonlinear Systems with Disturbance and Construction of Nonlinear Robust Controller with L2 Gain PerformanceKeizo Okano0Kojiro Hagino1Hidetoshi Oya2Department of Systems Engineering, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, JapanUniversity of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo 182-8585, JapanInstitute of Technology and Science, The University of Tokushima, 2-1 Minamijosanjima, Tokushima 770-8506, JapanA new nonlinear control law for a class of nonlinear systems with disturbance is proposed. A control law is designed by transforming control Lyapunov function (CLF) to input-to-state stability control Lyapunov function (ISS-CLF). The transformed CLF satisfies a Hamilton-Jacobi-Isaacs (HJI) equation. The feedback system by the proposed control law has characteristics of L2 gain. Finally, it is shown by a numerical example that the proposed control law makes a controller by feedback linearization robust against disturbance.http://dx.doi.org/10.1155/2014/527893 |
| spellingShingle | Keizo Okano Kojiro Hagino Hidetoshi Oya Transformation of CLF to ISS-CLF for Nonlinear Systems with Disturbance and Construction of Nonlinear Robust Controller with L2 Gain Performance Journal of Control Science and Engineering |
| title | Transformation of CLF to ISS-CLF for Nonlinear Systems with Disturbance and Construction of Nonlinear Robust Controller with L2 Gain Performance |
| title_full | Transformation of CLF to ISS-CLF for Nonlinear Systems with Disturbance and Construction of Nonlinear Robust Controller with L2 Gain Performance |
| title_fullStr | Transformation of CLF to ISS-CLF for Nonlinear Systems with Disturbance and Construction of Nonlinear Robust Controller with L2 Gain Performance |
| title_full_unstemmed | Transformation of CLF to ISS-CLF for Nonlinear Systems with Disturbance and Construction of Nonlinear Robust Controller with L2 Gain Performance |
| title_short | Transformation of CLF to ISS-CLF for Nonlinear Systems with Disturbance and Construction of Nonlinear Robust Controller with L2 Gain Performance |
| title_sort | transformation of clf to iss clf for nonlinear systems with disturbance and construction of nonlinear robust controller with l2 gain performance |
| url | http://dx.doi.org/10.1155/2014/527893 |
| work_keys_str_mv | AT keizookano transformationofclftoissclffornonlinearsystemswithdisturbanceandconstructionofnonlinearrobustcontrollerwithl2gainperformance AT kojirohagino transformationofclftoissclffornonlinearsystemswithdisturbanceandconstructionofnonlinearrobustcontrollerwithl2gainperformance AT hidetoshioya transformationofclftoissclffornonlinearsystemswithdisturbanceandconstructionofnonlinearrobustcontrollerwithl2gainperformance |