Peaking Removing in Semi-Global Stabilization for a Class of Nonlinear Cascaded Systems Based on Control Barrier...

Area of Science:

• Control Systems Engineering
• Nonlinear Dynamics
• Optimization Techniques

Background:

• Nonlinear cascaded systems often exhibit undesirable peaking phenomena during stabilization.
• Existing methods may require complex controller designs or extensive modifications.
• Partial state feedback offers a potential pathway for simplified control.

Purpose of the Study:

• To develop a method for eliminating the peaking phenomenon in nonlinear cascaded systems.
• To achieve semi-global stabilization using linear partial state feedback within a quadratic program (QP) framework.
• To ensure practical applicability through controller simplicity and computational efficiency.

Main Methods:

• Designing a quadratic program (QP) to constrain inter-subsystem cascaded input terms.
• Utilizing linear partial state feedback to modify nominal controllers minimally.
• Employing QP solvers for real-time control implementation.

Main Results:

• Successfully eliminated undesirable transient peaks in nonlinear cascaded systems.
• Achieved semi-global stabilization with minimal controller modifications.
• Demonstrated effectiveness and robustness through numerical examples.

Conclusions:

• The proposed QP-based control strategy effectively removes peaking in nonlinear cascaded systems.
• The method offers a practical and efficient approach for stabilizing complex systems.
• Minimal modifications to existing linear controllers enable robust stabilization.