Matched disturbance suppression for nonlinear systems stabilizable by logic-based feedback |
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| Authors: | Lorenzo Marconi Andrew Teel |
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| Affiliation: | 1. School of Science, Hebei Province Key Laboratory of Big Data Calculation, Hebei University of Technology, Tianjin 300401, China;2. School of Artificial Intelligence, Hebei University of Technology, Tianjin 300130, China;1. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China;2. Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, China;3. Key Laboratory of Vehicle Advanced Manufacturing, Measuring and Control Technology (Beijing Jiaotong University), Ministry of Education, China;1. School of Computer Science and Technology, Qilu University of Technology (Shandong Academy of Sciences), Jinan, Shandong 250353, PR China;2. Shandong Computer Science Center (National Supercomputer Center in Jinan), Jinan, Shandong 250014, PR China;3. Shandong Provincial Key Laboratory of Computer Networks, Jinan, Shandong 250014, PR China;4. School of Electrical Engineering and Automation, HeFei University of Technology, Hefei, Anhui 230009, PR China;5. Department of Automation, University of Science and Technology of China, Hefei, Anhui 230027, PR China;6. School of Computer, Data and Mathematical Sciences, Western Sydney University, Sydney, NSW 2751, Australia;7. Department of Computer Science and Technology, Shandong University of Finance and Economics, Jinan, Shandong250014, PR China;1. School of Information Science and Engineering, Southeast University, Nanjing 210096, China;2. School of Cyber Science and Engineering, Southeast University, Nanjing 210096, China;3. School of Mathematics, Southeast University, Nanjing 210096, China |
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| Abstract: | We focus on a class of nonlinear systems that can be stabilized at a desired compact set by means of logic-based continuous feedback and we show how to design regulators that are robust to matched exosystem-generated disturbances. The proposed design methodology, of interest also for purely continuous-time systems, combines recent advances in the field of hybrid control systems and output regulation for nonlinear systems. As an illustrative example, the problem of global stabilization of a 6-DOF rigid body affected by a force periodic disturbance of uncertain amplitude, phase and frequency is presented. |
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