Robust Control Subject to Saturation Nonlinearity in States

Takao Watanabe

doi:10.11499/sicep.2002.0.44.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.44.0

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

Robust Control Subject to Saturation Nonlinearity in States

Takao Watanabe

Author information

Keywords: actuator saturation, state saturation, backstepping, L₂/L_∞ disturbance rejection

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 44

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Abstract

We consider robust state feedback control problems of a nonlinear system subject to state saturation and disturbance input. A controller design procedure for the system with state saturation is presented, and the stability properties of the closed loop system under the injection of L₂ and L_∞ disturbances are clarified.

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