Robust control of nonlinear strict-feedback systems with measurement errors

Tengfei Liu; Zhong Ping Jiang; David J. Hill

doi:10.1109/CDC.2011.6160668

Robust control of nonlinear strict-feedback systems with measurement errors

Tengfei Liu^*, Zhong Ping Jiang, David J. Hill

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Citations (Scopus)

Abstract

This paper presents a new method for robust control of a class of uncertain nonlinear systems in strict-feedback form with state measurement errors. The measurement feedback control problem is solved by recursively designing input-to-state stability (ISS) induced nonlinear state estimators and virtual control laws. With the gain assignment technique, the closed-loop system can be transformed into an interconnection of ISS subsystems, the ISS and input-to-output stability (IOS) of which can be guaranteed by the cyclic-small-gain theorem. Moreover, the IOS gain from the measurement error of the system output (the first state) to the system output can be designed to be linear and arbitrarily close to the identity function.

Original language	English
Title of host publication	2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2034-2039
Number of pages	6
ISBN (Print)	9781612848006
DOIs	https://doi.org/10.1109/CDC.2011.6160668
Publication status	Published - 2011
Event	2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 - Orlando, FL, United States Duration: 12 Dec 2011 → 15 Dec 2011

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Country/Territory	United States
City	Orlando, FL
Period	12/12/11 → 15/12/11

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10.1109/CDC.2011.6160668

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Liu, T., Jiang, Z. P., & Hill, D. J. (2011). Robust control of nonlinear strict-feedback systems with measurement errors. In 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 (pp. 2034-2039). Article 6160668 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2011.6160668

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title = "Robust control of nonlinear strict-feedback systems with measurement errors",

abstract = "This paper presents a new method for robust control of a class of uncertain nonlinear systems in strict-feedback form with state measurement errors. The measurement feedback control problem is solved by recursively designing input-to-state stability (ISS) induced nonlinear state estimators and virtual control laws. With the gain assignment technique, the closed-loop system can be transformed into an interconnection of ISS subsystems, the ISS and input-to-output stability (IOS) of which can be guaranteed by the cyclic-small-gain theorem. Moreover, the IOS gain from the measurement error of the system output (the first state) to the system output can be designed to be linear and arbitrarily close to the identity function.",

author = "Tengfei Liu and Jiang, {Zhong Ping} and Hill, {David J.}",

year = "2011",

doi = "10.1109/CDC.2011.6160668",

language = "English",

isbn = "9781612848006",

series = "Proceedings of the IEEE Conference on Decision and Control",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "2034--2039",

booktitle = "2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011",

address = "United States",

note = "2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 ; Conference date: 12-12-2011 Through 15-12-2011",

}

Liu, T, Jiang, ZP & Hill, DJ 2011, Robust control of nonlinear strict-feedback systems with measurement errors. in 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011., 6160668, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 2034-2039, 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011, Orlando, FL, United States, 12/12/11. https://doi.org/10.1109/CDC.2011.6160668

Robust control of nonlinear strict-feedback systems with measurement errors. / Liu, Tengfei; Jiang, Zhong Ping; Hill, David J.
2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011. Institute of Electrical and Electronics Engineers Inc., 2011. p. 2034-2039 6160668 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Robust control of nonlinear strict-feedback systems with measurement errors

AU - Liu, Tengfei

AU - Jiang, Zhong Ping

AU - Hill, David J.

PY - 2011

Y1 - 2011

N2 - This paper presents a new method for robust control of a class of uncertain nonlinear systems in strict-feedback form with state measurement errors. The measurement feedback control problem is solved by recursively designing input-to-state stability (ISS) induced nonlinear state estimators and virtual control laws. With the gain assignment technique, the closed-loop system can be transformed into an interconnection of ISS subsystems, the ISS and input-to-output stability (IOS) of which can be guaranteed by the cyclic-small-gain theorem. Moreover, the IOS gain from the measurement error of the system output (the first state) to the system output can be designed to be linear and arbitrarily close to the identity function.

AB - This paper presents a new method for robust control of a class of uncertain nonlinear systems in strict-feedback form with state measurement errors. The measurement feedback control problem is solved by recursively designing input-to-state stability (ISS) induced nonlinear state estimators and virtual control laws. With the gain assignment technique, the closed-loop system can be transformed into an interconnection of ISS subsystems, the ISS and input-to-output stability (IOS) of which can be guaranteed by the cyclic-small-gain theorem. Moreover, the IOS gain from the measurement error of the system output (the first state) to the system output can be designed to be linear and arbitrarily close to the identity function.

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U2 - 10.1109/CDC.2011.6160668

DO - 10.1109/CDC.2011.6160668

M3 - Conference contribution

SN - 9781612848006

T3 - Proceedings of the IEEE Conference on Decision and Control

SP - 2034

EP - 2039

BT - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011

Y2 - 12 December 2011 through 15 December 2011

ER -

Liu T, Jiang ZP, Hill DJ. Robust control of nonlinear strict-feedback systems with measurement errors. In 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011. Institute of Electrical and Electronics Engineers Inc. 2011. p. 2034-2039. 6160668. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC.2011.6160668

Robust control of nonlinear strict-feedback systems with measurement errors

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