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....
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2014-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2014/527893 |
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| Summary: | 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. |
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| ISSN: | 1687-5249 1687-5257 |