Supervision of integral-input-to-state stabilizing controllers

被引:104
|
作者
Hespanha, JP
Liberzon, D
Morse, AS
机构
[1] Univ Illinois, Coordinated Sci Lab, Urbana, IL 61801 USA
[2] Univ Calif Santa Barbara, Dept Elect & Comp Engn, Santa Barbara, CA 93106 USA
[3] Yale Univ, Dept Elect Engn, New Haven, CT 06520 USA
关键词
nonlinear system; modeling uncertainty; hybrid control; integral-input-to-state stability;
D O I
10.1016/S0005-1098(02)00024-9
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
The subject of this paper is hybrid control of nonlinear systems with large-scale uncertainty. We describe a high-level controller, called a "supervisor", which orchestrates logic-based switching among a family of candidate controllers. We show that in this framework, the problem of controller design at the lower level can be reduced to finding an integral-input-to-state stabilizing control law for an appropriate system with disturbance inputs. Employing the recently introduced "scale-independent hysteresis" switching logic, we prove that in the case of purely parametric uncertainty with unknown parameters taking values in a finite set the switching terminates in finite time and state regulation is achieved. (C) 2002 Elsevier Science Ltd. All rights reserved.
引用
收藏
页码:1327 / 1335
页数:9
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