Robust \(H^\infty \) control of a nonlinear uncertain system via a stable nonlinear output feedback controller. (English) Zbl 1245.93044
Summary: A new approach to solving a nonlinear robust \(H^\infty\) control problem using a stable nonlinear output feedback controller is presented in this article. The class of nonlinear uncertain systems being considered is characterized in terms of integral quadratic constraints and global Lipschitz conditions describing the admissible uncertainties and nonlinearities, respectively. The nonlinear controller is able to exploit the plant nonlinearities through the inclusion of a copy of the known plant nonlinearities in the controller. The \(H^\infty\) control objective is to obtain an absolutely stable closed-loop system with a specified disturbance attenuation level. The solution of this control problem involves stabilizing solutions of parametrized algebraic Riccati equations. We apply a differential evolution algorithm to solve a nonconvex nonlinear optimisation problem arising in the controller synthesis.
MSC:
| 93B36 | \(H^\infty\)-control |
| 93C10 | Nonlinear systems in control theory |
| 93C41 | Control/observation systems with incomplete information |
| 93B52 | Feedback control |
Keywords:
robust \(H^\infty \) control; nonlinear uncertain system; stable output feedback controller; integral quadratic constraints; global Lipschitz conditions; parametrized algebraic Riccati equationsReferences:
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