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A Dynamic Scaling Based Control Redesign Procedure for Uncertain Nonlinear Systems with Input Unmodeled Dynamics

机译：基于动态缩放的控制重新设计过程，用于输入未拼接动态的不确定非线性系统

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The global asymptotic stabilization problem for a general class of uncertain nonlinear systems with dynamic input uncertainties (input unmodeled dynamics) is considered. The system structure addressed in this paper is comprised of a nominal system (which can have a general nonlinear dynamics structure and is assumed to have a nominal control law to stabilize the nominal system) and an appended input unmodeled dynamics. The proposed approach is based on a control redesign utilizing the nominal control law and incorporating a singular-perturbation-like dynamic system extension along with a dynamic scaling to address the dynamic input uncertainties. The control input uncertainty structure is modeled through an uncertain non-affine function of the control input and the unmeasured state of an uncertain input unmodeled dynamics subsystem. The proposed control redesign approach is applicable to a wide class of nonlinear systems including triangular as well as non-triangular system structures as long as a set of structural and inequality conditions on the system dynamics are satisfied and provides a global robust output-feedback stabilizing controller.
机译：考虑了具有动态输入不确定性的一般不确定非线性系统的全局渐近稳定问题（输入未拼质动态）。本文寻址的系统结构由标称系统（可以具有一般非线性动力学结构，并且假设具有标称控制法来稳定标称系统）和附加输入的未拼件动态。该提出的方法基于利用标称控制法的控制重新设计，并掺入奇异扰动的动态系统延伸以及动态缩放来解决动态输入不确定性。控制输入​​不确定性结构是通过控制输入的不确定非仿射功能和不确定输入未铭出动态子系统的未测量状态的模型建模的。所提出的控制重新设计方法适用于广泛的非线性系统，包括三角形以及非三角形系统结构，只要满足系统动态的一组结构和不等式条件，并且提供了全局鲁棒输出反馈稳定控制器。

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