Global robust stabilization of Feedforward systems with uncertainties

• Published in: Journal of control theory and applications Vol. 8; no. 3; pp. 262 - 270
• Main Authors: Chen, Tianshi, Huang, Jie
• Format: Journal Article
• Language: English
• Published: Heidelberg South China University of Technology and Academy of Mathematics and Systems Science, CAS 01.08.2010; Department of Electrical Engineering, Link(o)ping University, Link(o)ping, Sweden%Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China
• Subjects: Complexity; Computational Intelligence; Control; Control and Systems Theory; Control systems; Control theory; Dynamical systems; Dynamics; Engineering; Feedforward; Gain; Mechatronics; Optimization; Robotics; Robust stabilization; Systems Theory; Uncertainty; 不确定性; 前馈系统; 小增益定理; 局部稳定; 控制律; 时间变化; 闭环系统; 鲁棒镇定问题; Robust control; Asymptotic stabilization; Nonlinear systems
• ISSN: 1672-6340; 1993-0623
• DOI: 10.1007/s11768-010-0016-9

This paper studies the global robust stabilization problem for a class of feedforward systems that is subject to both dynamic and time-varying static uncertainties. A small gain theorem-based bottom-up recursive design is developed for constructing a nested saturation control law. At each recursion, two versions of small gain theorem with restrictions are employed to establish the global attractiveness and local stability of the closed-loop system at the equilibrium point, respectively.