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Flexible Performance-Based Control for Nonlinear Systems Under Strong External Disturbances.

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|April 4, 2023

Summary

This summary is machine-generated.

This study introduces a flexible control scheme for uncertain nonlinear systems facing strong external disturbances. The method ensures prescribed performance by adapting to disturbance levels, guaranteeing system reliability.

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Area of Science:

Control Systems Engineering
Nonlinear Dynamics
Robotics

Background:

External disturbances pose significant challenges to control system reliability.
Ensuring predictable system behavior under uncertainty is crucial for many applications.

Purpose of the Study:

To develop a robust tracking control scheme for uncertain nonlinear systems with strong external disturbances.
To introduce a flexible performance-based control that adapts to disturbance levels.

Main Methods:

A disturbance interval observer was synthesized to estimate external disturbance boundaries.
An interval-type auxiliary system was designed to generate modified performance functions (MPFs).
Positive system theory and Lyapunov methods were employed for theoretical validation.

Main Results:

The proposed control scheme guarantees prescribed performance when disturbances are below a threshold.
Performance gracefully degrades according to user-defined rules when disturbances exceed the threshold.
Theoretical analysis confirmed that system output tracks reference signals while satisfying MPF constraints.

Conclusions:

The developed flexible performance-based control scheme effectively addresses external disturbances in uncertain nonlinear systems.
The method ensures reliable system operation and adaptable performance guarantees.
Simulations and flight control design applications validated the approach's effectiveness.