skip to main content
US FlagAn official website of the United States government
dot gov icon
Official websites use .gov
A .gov website belongs to an official government organization in the United States.
https lock icon
Secure .gov websites use HTTPS
A lock ( lock ) or https:// means you've safely connected to the .gov website. Share sensitive information only on official, secure websites.

Explore Research Products in the PAR
It may take a few hours for recently added research products to appear in PAR search results.


Title: Global sampled‐data stabilization via static output feedback for a class of nonlinear uncertain systems
Summary This paper proposes some novel compensating strategies in output feedback controller design for a class of nonlinear uncertain system. With Euler approximation introduced for unmeasured state and coordinate transformation constructed for continuous system, sampled‐data stabilization under arbitrary sampling period is firstly realized for linear system using compensation between sampling period and scaling gain. Then global sampled‐data stabilization for a class of nonlinear system is studied using linear feedback domination of Lyapunov functions. Extension of obtained results to three‐dimensional system or systems under general assumptions are also presented. With the compensation schemes proposed in controller design, the sufficiently small sampling period or approximating step previously imposed is not required any more. The proposed controllers can be easily implemented using output measurements sampled at the current step and delayed output measurements sampled at the previous step without constructing state observers which has been illustrated by the numerical studies.  more » « less
Award ID(s):
1826086
PAR ID:
10446674
Author(s) / Creator(s):
; ;
Date Published:
Journal Name:
International Journal of Robust and Nonlinear Control
Volume:
33
Issue:
4
ISSN:
1049-8923
Page Range / eLocation ID:
2913 to 2929
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
More Like this
  1. ; ; ; (, IET Control Theory & Applications)
    Abstract Global sampled‐data stabilization for a class of nonlinear continuous system with input delay has been investigated directly in the discrete‐time domain due to challenges confronted in dealing with infinite‐dimensional system under input delay. Memorized state feedback controllers and output feedback controllers based on dynamic extension of state space have been constructed within the framework of co‐design between sampling period and scaling gain. Upon this compensation scheme, global sampled‐data stabilization a class of nonlinear system has been successfully realized no matter the input delay is smaller than the sampling period or not. Compared with memory‐less sampled‐data controllers, not only sampled‐data stabilization under large input delay has been realized but also transient performance of closed‐loop system has been further improved. Simulation results under different input delays and sampling periods have illustrated the effectiveness of results obtained. 
    more » « less
  2. ; ; ; (, 2018 IEEE Conference on Decision and Control)
    This paper proposes a multirate output-feedback controller for multi-input multi-output (MIMO) systems, possibly with non-minimum-phase zeros, using the L1 adaptive control structure. The analysis of stability and robustness of the sampled-data controller reveals that under certain conditions the performance of a continuous-time reference system is uniformly recovered as the sampling time goes to zero. The controller is designed for detection and mitigation of actuator attacks. By considering a multirate formulation, stealthy zero-dynamics attacks become detectable. The experimental results from the flight test of a small quadrotor are provided. The tests show that the multirate L1 controller can effectively detect the zero-dynamics actuator attack and recover stability of the quadrotor. 
    more » « less
  3. ; ; (, European Control Conference)
    Regional stability analysis of linear systems with multi-rate samplers and actuator saturation is studied. A hybrid controller is used to perform a fusion of measurements sampled at different times. In between sampling events, the controller behaves as a copy of the plant. When a new measurement is available, the controller state undergoes a jump. The resulting system is analyzed in a hybrid system framework. Sufficient conditions in the form of matrix inequalities are given to determine estimates of the basin of attraction of the closed-loop system. Finally, the effectiveness of the proposed methodology is shown in an example. 
    more » « less
  4. ; (, IEEE Control Systems Letters)
    This letter introduces a novel method for the stability analysis of positive feedback systems with a class of fully connected feedforward neural networks (FFNN) controllers. By establishing sector bounds for fully connected FFNNs without biases, we present a stability theorem that demonstrates the global exponential stability of linear systems under fully connected FFNN control. Utilizing principles from positive Lur’e systems and the positive Aizerman conjecture, our approach effectively addresses the challenge of ensuring stability in highly nonlinear systems. The crux of our method lies in maintaining sector bounds that preserve the positivity and Hurwitz property of the overall Lur’e system. We showcase the practical applicability of our methodology through its implementation in a linear system managed by a FFNN trained on output feedback controller data, highlighting its potential for enhancing stability in dynamic systems. 
    more » « less
  5. ; ; (, Proc. Hybrid Systems Computation and Control (HSCC) 2020.)
    null (Ed.)
    We consider abstraction-based design of output-feedback controllers for dynamical systemswith a finite set of inputs and outputs against specifications in linear-time temporal logic. The usual procedure for abstraction-based controller design (ABCD) first constructs a finite-state abstraction of the underlying dynamical system, and second, uses reactive synthesis techniques to compute an abstract state-feedback controller on the abstraction. In this context, our contribution is two-fold: (I) we define a suitable relation between the original systemand its abstractionwhich characterizes the soundness and completeness conditions for an abstract state-feedback controller to be refined to a concrete output-feedback controller for the original system, and (II) we provide an algorithm to compute a sound finite-state abstraction fulfilling this relation. Our relation generalizes feedback-refinement relations fromABCD with state-feedback. Our algorithm for constructing sound finitestate abstractions is inspired by the simultaneous reachability and bisimulation minimization algorithm of Lee and Yannakakis. We lift their idea to the computation of an observation-equivalent system and show how sound abstractions can be obtained by stopping this algorithm at any point. Additionally, our new algorithm produces a realization of the topological closure of the input/output behavior of the original system if it is finite state realizable. 
    more » « less
  • Citation Formats
  • MLA
  • APA
  • Chicago
  • BibTeX
  • Text Encoded Conversion
  • XML
  • Save / Share this Record
  • Send to Email