TY - JOUR
T1 - Simultaneous design of AWC and nonlinear controller for uncertain nonlinear systems under input saturation
AU - Hussain, Muntazir
AU - Rehan, Muhammad
AU - Ahn, Choon Ki
AU - Hong, Keum Shik
AU - Saqib, Najam us
N1 - Funding Information:
Higher Education Commission (HEC) of Pakistan, Grant/Award Number: PhD scholarship; National Research Foundation of Korea through the Ministry of Science, ICT and Future Planning, Grant/Award Number: NRF-2017R1A1A1A05001325
Funding Information:
This work was supported by the Higher Education Commission (HEC) of Pakistan through a PhD scholarship of first author (phase II, batch II program) and in part by the National Research Foundation of Korea through the Ministry of Science, ICT and Future Planning under grant NRF-2017R1A1A1A05001325.
Publisher Copyright:
© 2019 John Wiley & Sons, Ltd.
PY - 2019/7/10
Y1 - 2019/7/10
N2 - 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.
AB - 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.
KW - anti-windup compensator
KW - dynamic robust nonlinear controller
KW - input saturation
KW - linear parameter-varying technique
KW - uncertain nonlinear systems
UR - http://www.scopus.com/inward/record.url?scp=85063161406&partnerID=8YFLogxK
U2 - 10.1002/rnc.4529
DO - 10.1002/rnc.4529
M3 - Article
AN - SCOPUS:85063161406
SN - 1049-8923
VL - 29
SP - 2877
EP - 2897
JO - International Journal of Robust and Nonlinear Control
JF - International Journal of Robust and Nonlinear Control
IS - 10
ER -