Robust Control Via Variable Structure and Lyapunov Techniques
Springer Berlin Heidelberg, 1996 - Technology & Engineering - 307 pages
A large part of today's fervour on robust control research is focused on those techniques which utilise the Variable Structure Control Method and Lyapunov's Second Method, and which constitute the backbone of the so-called "deterministic" control of uncertain systems. The chapters of this book cover a large spectrum of the recent research and introduce the most innovative ideas in the field. Contained within the volume the reader will find: a survey of control Lyapunov functions; new structures of sliding mode controllers with discussion on higher order sliding modes; new techniques for the design of direct and indirect adaptive controllers; an introduction to the geometric theory of "flat" systems; controllers for plants with component-wise bounded inputs; robust design via linear matrix inequalities and polytopic covering; and some issues on the dissipativity and absolute stability of nonli near systems.
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List of Contributors
Approaches to Robust Nonlinear Control
Dynamical Sliding Mode Control via Adaptive InputOutput
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achieve actuator adaptive algorithm applied approach associated assume Assumption asymptotic bounded chapter choice condition consider constant constraint continuous control design control law control system convergence coordinates corresponding defined Definition denotes depend derivatives described design procedure differential discontinuous discrete disturbance dynamics equation equivalent estimate example exists feedback fictitious control Figure finite given global GMCs holds IEEE inclusion inequality input integral interlacing interval Italy Journal known linear linear systems Lyapunov function manifold matrix measurement method motion nonlinear systems Note obtained Optimization order sliding mode origin output parameters positive present problem procedure Proceedings proof provides quadratic recursive respect robust control satisfying shown sliding mode control smooth solution stability stabilizability steps structure subsystem sufficient surface switching Theorem theory tion tracking trajectory transformation uncertain systems uncertainties vector