Simultaneous design of AWC and nonlinear controller for uncertain nonlinear systems under input saturation
- Authors
- Hussain, Muntazir; Rehan, Muhammad; Ahn, Choon Ki; Hong, Keum-Shik; Saqib, Najam Us
- Issue Date
- 10-7월-2019
- Publisher
- WILEY
- Keywords
- anti-windup compensator; dynamic robust nonlinear controller; input saturation; linear parameter-varying technique; uncertain nonlinear systems
- Citation
- INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, v.29, no.10, pp.2877 - 2897
- Indexed
- SCIE
SCOPUS
- Journal Title
- INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
- Volume
- 29
- Number
- 10
- Start Page
- 2877
- End Page
- 2897
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/64123
- DOI
- 10.1002/rnc.4529
- ISSN
- 1049-8923
- Abstract
- This article addresses a novel technique for the simultaneous design of a robust nonlinear controller and static anti-windup compensator (AWC) for uncertain nonlinear systems under actuator saturation and exogenous L2 bounded input. The system is presumed to have locally Lipschitz nonlinearities, time-varying uncertainties (appearing both in the linear as well as nonlinear dynamics and both in the state in addition to the output equations), and external norm-bounded inputs both in the state and the output equations. Several bilinear matrix inequality-based conditions are derived to simultaneously design the robust nonlinear controller and AWC gains for uncertain nonlinear systems by employing the Lyapunov functional, reformulated Lipschitz property, uncertainty bounds, linear parameter-varying approach, modified local and global sector conditions, iterative linear matrix inequality algorithm, convex optimization procedure, and L2 gain minimization. The proposed multiobjective AWC-based dynamic robust nonlinear controller guarantees the mitigation of saturation effects, robustness against time-varying parametric norm-bounded uncertainties, the asymptotic stability of the closed-loop nonlinear system under zero external disturbances, and the attenuation of disturbance effects under nonzero external disturbances. The effectiveness of the proposed AWC-based dynamic robust nonlinear controller synthesis scheme is illustrated by simulation examples.
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