Robust L2 Gain Design for A Class of Nonlinear Systems with Uncertain Input Dynamics

Xiaohong Jiao; Tielong Shen; Katsutoshi Tamura

doi:10.11499/sicep.2002.0.140.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.140.0

会議情報

主催: The Society of Instrument and Control Engineers

共催: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

Robust L2 Gain Design for A Class of Nonlinear Systems with Uncertain Input Dynamics

Xiaohong Jiao, Tielong Shen, Katsutoshi Tamura

著者情報

キーワード: Robust L₂-gain design, Uncertain input dynamics, Control direction, Nonlinear systems

会議録・要旨集フリー

p. 140

詳細

抄録

In this paper, robust L₂ gain design problem is investigated for a class of nonlinear systems with uncertain input dynamics. For the input uncertainty, the control direction is not required to be known but the zero dynamics is restricted to be ISS. A robust dynamical controller is designed by constructing a positive definite function guaranteeing the Barbalat’s condition such that the closed-loop system satisfies robust L₂ gain constraint, and a parameter adaptive function is introduced to the control law for compensation of the unknown control direction. Furthermore, the control law is extended to the high dimension systems.

責任著者(Corresponding author)

J-STAGEへの登録はこちら（無料）